基于可拓切换控制方法的智能车辆车道保持系统研究
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摘要
针对道路曲率变化范围较大时,智能车辆在大曲率道路工况车道保持控制精度低的问题,提出一种基于可拓切换控制理论的智能车辆车道保持控制系统,该车道保持系统由上层可拓控制器和下层控制器两部分组成。在上层可拓控制器中,通过车道线检测得到车辆相对于道路的位置信息和道路曲率信息。根据可拓集合理论,选取预瞄点处横向位置偏差和前方道路曲率值作为可拓集合的特征值并划分可拓集合,求解关联函数,并根据关联函数值将车辆-道路系统状态分为经典域、可拓域和非域。在下层控制器中,在经典域采用基于横向位置偏差和航向偏差的PID反馈控制器,在可拓域中采用基于前方道路曲率的PID前馈-反馈控制器,非域中车辆-道路系统处于完全失控状态,采取紧急制动。2种仿真工况结果表明:相比于单一PID反馈控制,提出的车道保持控制系统,有效抑制了在大曲率道路下的跟踪误差值,提高了智能驾驶汽车在时变曲率的道路工况下车道保持控制精度和工况适应性。
In this paper, to solve the problem of intelligent vehicles having low control precision on a roadway with a large curvature, an intelligent vehicle lane-keeping control system based on the theory of extension switching control is proposed. The lane-keeping system comprises two parts-an upper extension controller and a bottom controller. In the upper extension controller, vehicle position information and road curvature information is obtained through the lane line detection method. The lateral position deviation at the preview point and the curvature of the road ahead are selected as feature quantities, and the correlation function is solved. According to the correlation function values, the vehicle-road system states are classified into classical domain, extension domain, or non-domain. In the lower-level controller, a proportion-integral-derivative(PID) feedback controller based on lateral position deviation and heading deviation is used in the classical domain, and a PID feedforward-feedback controller based on the curvature of the road ahead is used in the extension domain. When the vehicle in the non-domain, vehicle-road system is in an unstable state and it has difficulty to control the system and takes emergency braking. The two simulation results demonstrate that compared with the single PID feedback control, the lane-keeping control system proposed in this paper effectively suppresses the tracking deviation in the large curvature road condition and improves the precision and reliability of the lane-keeping system for intelligent driving vehicles.
In this paper, to solve the problem of intelligent vehicles having low control precision on a roadway with a large curvature, an intelligent vehicle lane-keeping control system based on the theory of extension switching control is proposed. The lane-keeping system comprises two parts-an upper extension controller and a bottom controller. In the upper extension controller, vehicle position information and road curvature information is obtained through the lane line detection method. The lateral position deviation at the preview point and the curvature of the road ahead are selected as feature quantities, and the correlation function is solved. According to the correlation function values, the vehicle-road system states are classified into classical domain, extension domain, or non-domain. In the lower-level controller, a proportion-integral-derivative(PID) feedback controller based on lateral position deviation and heading deviation is used in the classical domain, and a PID feedforward-feedback controller based on the curvature of the road ahead is used in the extension domain. When the vehicle in the non-domain, vehicle-road system is in an unstable state and it has difficulty to control the system and takes emergency braking. The two simulation results demonstrate that compared with the single PID feedback control, the lane-keeping control system proposed in this paper effectively suppresses the tracking deviation in the large curvature road condition and improves the precision and reliability of the lane-keeping system for intelligent driving vehicles.
引文
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[20] 陈无畏,孙晓文,汪洪波.汽车差动助力转向系统的可拓协调控制[J].中国科学:技术科学,2017,47(3):324-335.CHEN Wu-wei,SUN Xiao-wen,WANG Hong-bo.Extension Coordinated Control of Automotive Differential Drive Assisted Steering System [J].Scientia Sinica Technologica,2017,47 (3):324-335.
[21] 蔡文,杨春燕.可拓学的基础理论与方法体系[J].科学通报,2013,58(13):1190-1199.CAI Wen,YANG Chun-yan.Basic Theory and Methodology on Extenics [J].Chinese Science Bulletin,2013,58 (13):1190-1199.
[22] SMARANDACHE F.Generalizations of the Distance and Dependent Function in Extenics to 2D,3D,and n-D [J].Progress in Physics,2012,3 (8):961-968.
[2] MARINO R,SCALZI S,NETTO M.Nested PID Steering Control for Lane Keeping in Autonomous Vehicles [J].Control Engineering Practice,2011,19 (12):1459-1467.
[3] 马莹,李克强,高峰,等.改进的有限时间最优预瞄横向控制器设计[J].汽车工程,2006,28(5):433-438.MA Ying,LI Ke-qiang,GAO Feng,et al.Design of an Improved Optimal Preview Lateral Controller [J].Automotive Engineering,2006,28 (5):433-438.
[4] HU C,WANG R R,YAN F J,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.
[5] TAGNE G,TALJ R,CHARARA A.Design and Comparison of Robust Nonlinear Controllers for the Lateral Dynamics of Intelligent Vehicles [J].IEEE Transactions on Intelligent Transportation Systems,2016,17 (3):796-809.
[6] WANG R R,JING H,HU C,et al.Robust H∞ Path Following Control for Autonomous Ground Vehicles with Delay and Data Dropout [J].IEEE Transactions on Intelligent Transportation Systems,2016,17 (7):2042-2050.
[7] WANG R R,HU C,YAN F,et al.Composite Nonlinear Feedback Control for Path Following of Four-wheel Independently Actuated Autonomous Ground Vehicles [J].IEEE Transactions on Intelligent Transportation Systems,2016,17 (7):2063-2074.
[8] DRAGE T,KALINOWSKI J,BRUNL T.Integration of Drive by Wire with Navigation Control for a Driverless Electric Race Car [J].IEEE Intelligent Transportation Systems Magazine,2014 ,6 (4):23-33.
[9] HWANG C L,YANG C C,HUNG J Y.Path Tracking of an Automatic Ground Vehicle with Different Payloads by Hierarchical Improved Fuzzy Dynamic Sliding-mode Control [J].IEEE Transactions on Fuzzy Systems,2017,26 (4):899-914.
[10] 郭景华,李克强,罗禹贡.智能车辆运动控制研究综述[J].汽车安全与节能学报,2016,7(2):151-159.GUO Jing-hua,LI Ke-qiang,LUO Yu-gong.Review on the Research of Motion Control for Intelligent Vehicles [J].Journal of Automotive Safety and Energy,2016,7 (2):151-159.
[11] ONIEVA E,NARANJO J E,MILANéS V,et al.Automatic Lateral Control for Unmanned Vehicles via Genetic Algorithms [J].Applied Soft Computing Journal,2011,11 (1):1303-1309.
[12] KAYACAN E,RAMON H,SAEYS W.Robust Trajectory Tracking Error Model-based Predictive Control for Unmanned Ground Vehicles [J].IEEE/ASME Transactions on Mechatronics,2016,21 (2):806-814.
[13] 王家恩,陈无畏,王檀彬,等.基于期望横摆角速度的视觉导航智能车辆横向控制[J].机械工程学报,2012,48(4):108-115.WANG Jia-eng,CHEN Wu-wei,WANG Tan-bin,et al.Vision Guided Intelligent Vehicle Lateral Control Based on Desired Yaw Rate [J].Journal of Mechanical Engineering,2012,48 (4):108-115.
[14] AOUAOUDA S,CHADLI M,BOUKHNIFER M,et al.Robust Fault Tolerant Tracking Controller Design for Vehicle Dynamics:A Descriptor Approach [J].Mechatronics,2015,30:316-326.
[15] SHUAI Z,ZHANG H,WANG J,et al.Combined AFS and DYC Control of Four-wheel-independent-drive Electric Vehicles over CAN Network with Time-varying Delays [J].IEEE Transactions on Vehicular Technology,2014,63 (2):591-602.
[16] 蔡文,杨春燕,何斌.可拓学的基础理论研究的新进展[J].中国工程科学,2003,5(2):80-87.CAI Wen,YANG Chun-yan,HE Bin.New Development of the Basic Theory of Extenics [J].Engineering Science,2003,5 (2):80-87.
[17] NGUYEN A T,SENTOUH C,POPIEUL J C.Online Adaptation of the Authority Level for Shared Lateral Control of Driver Steering Assist System Using Dynamic Output Feedback Controller [C] // IEEE.Conference of the IEEE Industrial Electronics Society.New York:IEEE,2016:3767-3772.
[18] 蔡英凤,高力,陈龙,等.基于聚类算法的车道线检测方法[J].江苏大学学报:自然科学版,2017,38(6):621-625.CAI Ying-feng,GAO Li,CHEN Long,et al.Lane Detection Method Based on Clustering Algorithm [J].Journal of Jiangsu University:Natural Science Edition,2017,38 (6):621-625.
[19] 杨春燕,蔡文.可拓工程研究[J].中国工程科学,2000,2(12):90-96.YANG Chun-yan,CAI Wen.Study on Extension Engineering [J].Engineering Science,2000,2 (12):90-96.
[20] 陈无畏,孙晓文,汪洪波.汽车差动助力转向系统的可拓协调控制[J].中国科学:技术科学,2017,47(3):324-335.CHEN Wu-wei,SUN Xiao-wen,WANG Hong-bo.Extension Coordinated Control of Automotive Differential Drive Assisted Steering System [J].Scientia Sinica Technologica,2017,47 (3):324-335.
[21] 蔡文,杨春燕.可拓学的基础理论与方法体系[J].科学通报,2013,58(13):1190-1199.CAI Wen,YANG Chun-yan.Basic Theory and Methodology on Extenics [J].Chinese Science Bulletin,2013,58 (13):1190-1199.
[22] SMARANDACHE F.Generalizations of the Distance and Dependent Function in Extenics to 2D,3D,and n-D [J].Progress in Physics,2012,3 (8):961-968.