考虑横向稳定性的智能车辆路径跟踪控制
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摘要
对于智能车辆的路径跟踪,传统位置偏差控制方法往往忽略了车辆的动态稳定性.针对这一问题提出一种考虑横向稳定性的智能车辆路径跟踪控制方法.首先建立二自由度车辆动力学模型和路径跟踪误差模型,综合考虑车辆位置偏差和车辆动力学状态,利用基于反馈优势的反推法(FDB)生成期望横摆角速度;然后基于线性二次型跟踪器(LQT)设计了主动前轮转向(AFS)和直接横摆力矩控制(DYC)的集成控制策略,得到了理想的控制输入(前轮转角和外部横摆力矩),进而实现精确跟踪期望横摆角速度和质心侧偏角;最后在Simulink仿真环境中对提出的控制方法进行验证.结果表明:提出的控制方法在路径跟踪的同时具有很好的横向稳定性能;相比于不考虑横向稳定性的控制方法,提出的方法在路径跟踪过程中跟踪精度更高,车辆的质心侧偏角更小,横摆角速度也能更好的跟踪期望值.
For the problem of path following in autonomous vehicles,the traditional position deviation control method used to neglect the dynamic stability of vehicle. To solve this problem,a control method taking into account the lateral stability of path-following is proposed. Firstly,2-DOF vehicle dynamics model and path-following error model are established. Secondly,taking into consideration the position of vehicle and the state of vehicle dynamics,the desired yaw rate is generated through the use of the back-stepping feedback dominance back-stepping( FDB).After that,an integrated control strategy of active front steering( AFS) and direct yaw moment control( DYC)based on LQT( linear quadratic tracker) are designed. Next,the ideal control inputs( front wheel angle and yaw moment) are obtained,and the desired yaw rate and sideslip angle is thus tracked accurately. Finally the proposed method is verified in the Simulink environment. The simulation results show that the proposed control method has good lateral stability in path tracking. Compared with the method without considering the lateral stability,the method proposed has higher tracking accuracy in the process of path tracking,the sideslip angle of the vehicle is smaller,and the yaw rate can better track the desired value.
For the problem of path following in autonomous vehicles,the traditional position deviation control method used to neglect the dynamic stability of vehicle. To solve this problem,a control method taking into account the lateral stability of path-following is proposed. Firstly,2-DOF vehicle dynamics model and path-following error model are established. Secondly,taking into consideration the position of vehicle and the state of vehicle dynamics,the desired yaw rate is generated through the use of the back-stepping feedback dominance back-stepping( FDB).After that,an integrated control strategy of active front steering( AFS) and direct yaw moment control( DYC)based on LQT( linear quadratic tracker) are designed. Next,the ideal control inputs( front wheel angle and yaw moment) are obtained,and the desired yaw rate and sideslip angle is thus tracked accurately. Finally the proposed method is verified in the Simulink environment. The simulation results show that the proposed control method has good lateral stability in path tracking. Compared with the method without considering the lateral stability,the method proposed has higher tracking accuracy in the process of path tracking,the sideslip angle of the vehicle is smaller,and the yaw rate can better track the desired value.
引文
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[2]GORDON T,ZHANG Y.Steering pulse model for vehicle lane keeping[C]∥Proceedings of IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications.Shenzhen:IEEE,2015:1-5.
[3]LI X,SUN J.Studies of vehicle lane-changing to avoid pedestrians with cellular automata[J].Physica A Statistical Mechanics and Its Applications,2015,438(7):251-271.
[4]YAKUB F,MORI Y.Comparative study of autonomous path-following vehicle control via model predictive control and linear quadratic control[J].Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,2015,229(12):1695-1714.
[5]HSU L,CHEN T.An optimal wheel torque distribution controller for automated vehicle trajectory following[J].IEEE Transactions on Vehicular Technology,2013,62(6):2430-2440.
[6]YAKUB F,MORI Y.Minimizing tracking error in path following control of autonomous ground vehicle[J].Icic Express Letters,2015,9(6):1-7.
[7]YU R,GUO H,SUN Z,et al.MPC-Based regional path tracking controller design for autonomous ground vehicles[C]∥Proceedings of IEEE International Conference on Systems,Man,and Cybernetics.Kowloon:IEEE,2015:2510-2515.
[8]SHIN J,HUH J,PARK Y.Asymptotically stable path following for lateral motion of an unmanned ground vehicle[J].Control Engineering Practice,2015,40(6):102-112.
[9]YANG H,COCQUEMPOT V,JIANG B.Optimal fault-tolerant path-tracking control for 4WS4WD electric vehicles[J].IEEE Transactions on Intelligent Transportation Systems,2010,11(1):237-243.
[10]BAPIRAJU S,JOE S.Navigation control in an urban autonomous ground vehicle[C]∥SAE 2011 World Congress and Exhibition.DETROIT:SAE,2011:21-31.
[11]JING H,HU C,YAN F,et al.Robust H∞output-feedback control for path following of autonomous ground vehicles[C]∥Proceedings of IEEE Conference on Decision and Control.Osaka:IEEE,2015:1515-1520.
[12]ZHANG K,CUI S,WANG J.Path tracking control of intelligent vehicle based on fuzzy neural network[J].Qiche Gongcheng/automotive Engineering,2015,37(1):38-42.
[13]PENG Z,NING G.2 DOF Lateral dynamic model with force input of skid steering wheeled vehicle[C]∥Proceedings of Transportation Electrification Asia-Pacific.Beijing:IEEE,2014:1-7.
[14]XIN M,MINOR M.Variable structure backstepping control via a hierarchical manifold set for graceful ground vehicle path following[C]∥Proceedings of IEEE International Conference on Robotics and Automation.Karlsruhe:IEEE,2013:2826-2832.
[15]HU C,WANG R,YAN F,et al.Output constraint control on path following of four-wheel independently actuated autonomous ground vehicles[J].IEEE Transactions on Vehicular Technology,2016,65(6):4033-4043.
[16]ZHANG H,WANG J.Vehicle lateral dynamics control through AFS/DYC and robust gain-Scheduling approach[J].IEEE Transactions on Vehicular Technology,2016,65(1):489-494.
[17]LI L,JIA G,CHEN J,et al.A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces[J].Vehicle System Dynamic,2015,53(8):1093-1116.
[18]EBRAHIMZADEH F,TSAI S,CHUNG M.A generalised optimal linear quadratic tracker with universal applications(Part 2):discrete-time systems[J].International Journal of Systems Science,2016,86(5):1-20.