计及质心侧偏角动态自适应的无人驾驶汽车横坡弯道跟踪控制

doi:10.3969/j.issn.1004-132X.2024.06.002

摘要/Abstract

摘要： 针对无人驾驶汽车在横坡弯道处因发生偏离期望轨迹甚至严重侧滑而失去稳定性的问题，提出质心侧偏角动态自适应控制策略。为应对汽车垂直载荷发生变化而导致轮胎侧偏刚度改变的情况，通过多组数据拟合得到载荷匹配图，进而设计基于模型预测算法的横向轨迹跟踪控制器，根据汽车入弯速度选择预测时域并结合道路弯度选择瞬态、稳态质心侧偏角，通过在线优化生成最佳前轮转角。最后搭建CarSim/Simulink联合在线仿真系统和实车系统进行验证，结果表明：所提控制策略能够保证汽车在横坡倾角为7%左右及弯道路面下不会出现严重的侧滑，从而提高了无人驾驶汽车在横坡弯道跟踪任务中的跟踪精度，使汽车具有良好的横向稳定性。

关键词: 无人驾驶汽车, 模型预测控制, 质心侧偏角, 横坡弯道

Abstract: To address the problems that the autonomous vehicle deviated from the expected trajectory at the lateral slope curve, and even losed stability owing to severe sideslipping, a dynamic adaptive control strategy for sideslip angle was proposed. To overcome the change of tire cornering stiffness caused by the changes of vertical loads of the vehicles, the load matching diagram was obtained by fitting multiple sets of data. Then, a lateral trajectory tracking controller was designed based on the model prediction control algorithm. In line with the entry speed of the vehicles into the turn, the prediction horizon was selected. Meanwhile, the transient-state and steady-state sideslip angle were selected in line with the road curve. Through online optimization, the optimal front wheel steering angle was generated. Finally, the CarSim/Simulink joint online simulation system and the real vehicles system were established for verification. The results demonstrate that the proposed control strategy may ensure that the vehicles will not have serious sideslip under the lateral slope inclination angle of around 7% and the curved road. In addition, the proposed control strategy improves the tracking accuracy of the autonomous vehicles in the lateral slope curve tracking task and makes the vehicles have good lateral stability.

Key words: autonomous vehicle, model prediction control, sideslip angle, lateral slope curve

中图分类号:

U461

张玮1, 高爱云1, 付主木2, 赵恩会1, 陈芊安1. 计及质心侧偏角动态自适应的无人驾驶汽车横坡弯道跟踪控制[J]. 中国机械工程, 2024, 35(06): 962-972.

ZHANG Wei1, GAO Aiyun1, FU Zhumu2, ZHAO Enhui1, CHEN Qianan1. A Lateral Slope Curve Tracking Control for Autonomous Vehicles Considering Dynamic Adaptive Sideslip Angles[J]. China Mechanical Engineering, 2024, 35(06): 962-972.

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链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2024.06.002

http://www.cmemo.org.cn/CN/Y2024/V35/I06/962

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