融合道路曲率前馈的车辆横向控制策略

doi:10.3969/j.issn.1004-132X.2025.11.036

摘要/Abstract

摘要：

针对自动驾驶汽车在道路大曲率弯道下跟踪精度不高的问题，聚焦于道路曲率对横向控制策略的影响，分别从车辆模型建模、横摆稳定性和时域优化三个角度对基于传统模型预测控制（MPC）算法的横向控制策略进行了改进优化。将道路曲率融入车辆模型，建立了曲率前馈的误差动力学模型，并以此为基础设计了基于曲率前馈MPC算法的横向控制策略。然后在策略中添加了一个由横向车速和稳态横摆角速度组成的横摆稳定性约束来提高车辆在大曲率工况时的横摆稳定性。基于遗传算法建立了车速、道路曲率和时域三者之间的MAP图，以优化策略的预测时域和控制时域。进行了仿真分析，结果表明改进后的横向控制策略能够有效提高车辆的路径跟踪精度和横摆稳定性。最后，实车道路试验验证了曲率前馈MPC策略的有效性。

关键词: 曲率前馈, 横向控制策略, 车辆模型建模, 横摆稳定性, 时域优化

Abstract:

Aiming at the problems of low tracking accuracy of autonomous vehicles in the road with large curvature curves， the influences of road curvature on the lateral control strategy were focused， the lateral control strategy was improved and optimized based on the traditional model predictive control（MPC） algorithm from three aspects of vehicle model modeling， yaw stability and time domain optimization， respectively. The road curvature was integrated into the vehicle model， and an error dynamics model with curvature feedforward was established. And then， a lateral control strategy was designed based on curvature feedforward MPC algorithm. Then， a lateral stability constraint consisting of lateral vehicle speed and steady-state lateral angular velocity was added to the strategy to enhance the lateral stability of the vehicles under high curvature conditions. A MAP map was established based on genetic algorithm to optimize the prediction and control time domains of the strategy， taking into account the relationships among vehicle speed， road curvature and time domain. Simulation analysis was conducted， and the results show that the improved lateral control strategy may effectively improve the path tracking precision and lateral stability of the vehicles. Finally， the effectivenesses of the curvature feedforward MPC strategy were verified through real vehicle road tests.

Key words: curvature feedforward, lateral control strategy, vehicle model modeling, yaw stability, time domain optimization

中图分类号:

U463.6

林歆悠, 金忠伟, 唐云亮. 融合道路曲率前馈的车辆横向控制策略[J]. 中国机械工程, 2025, 36(11): 2774-2782.

Xinyou LIN, Zhongwei JIN, Yunliang TANG. Vehicle Lateral Control Strategy Integrating Road Curvature Feedforward[J]. China Mechanical Engineering, 2025, 36(11): 2774-2782.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.11.036

https://www.cmemo.org.cn/CN/Y2025/V36/I11/2774

图/表 23

图1 单轨运动学模型

Fig.1 Monorail kinematic model

图2 Pacejka轮胎模型

Fig.2 Pacejka tire model

图3 单轨动力学模型

Fig.3 Monorail dynamic model

图4 融合曲率前馈MPC控制策略设计流程图

Fig.4 Design flowchart of fusion curvature feedforward MPC control strategy

图5 考虑道路曲率的跟踪误差示意图

Fig.5 Schematic diagram of tracking error considering road curvature

图6 60km/h时不同时域下的双移线跟踪结果

Fig.6 Double line tracking results in different time domains at 60km/h

图7 车速-曲率半径-预测时域拟合图

Fig.7 Fitting diagram of vehicle speed-curvature radius-prediction time domain

图8 车速-曲率半径-控制时域拟合图

Fig.8 Fitting diagram of vehicle speed-curvature radius-control time domain

表1 控制策略的通用参数

Tab.1 General parameters of control strategy

参数名称	取值
车辆质量m/kg	1530
车辆前后轴到质心的距离 $l f$ ， $l r$ /m	1.05，1.55
转动惯量 $I z$ /（ $k g ⋅ m 2$ ）	2059.2
采样时间/s	0.05
权重矩阵 Q	$1000010$
权重矩阵 R	［10］
转角增量限制/（°）	0.86
转角限制/（°）	25

表1 控制策略的通用参数

Tab.1 General parameters of control strategy

参数名称	取值
车辆质量m/kg	1530
车辆前后轴到质心的距离 $l f$ ， $l r$ /m	1.05，1.55
转动惯量 $I z$ /（ $k g ⋅ m 2$ ）	2059.2
采样时间/s	0.05
权重矩阵 Q	$1000010$
权重矩阵 R	［10］
转角增量限制/（°）	0.86
转角限制/（°）	25

图9 36 km/h时的路径跟踪效果对比

Fig.9 Comparison of path tracking effects at 36 km/h

图10 54 km/h时的路径跟踪效果对比

Fig.10 Comparison of path tracking effects at 54 km/h

图11 72 km/h时的路径跟踪效果对比

Fig.11 Comparison of path tracking effects at 72 km/h

图12 90 km/h时的路径跟踪效果对比

Fig.12 Comparison of path tracking effects at 90 km/h

图13 道路曲率对横向控制策略的影响对比

Fig.13 Comparison of the influence of road curvature on lateral control strategies

图14 72 km/h时不同控制策略的性能对比

Fig.14 Performance comparison of different control strategies at 72 km/h

图15 90 km/h时不同控制策略的性能对比

Fig.15 Performance comparison of different control strategies at 90 km/h

图16 横摆稳定性约束对轮胎侧偏角的影响

Fig.16 Influence of lateral stability constraints on tire sideslip angle

图17 不同车速下的横摆角速度对比

Fig.17 Comparison of lateral angular velocity at different vehicle speeds

图18 30 km/h时的时域自适应跟踪效果

Fig.18 Time domain adaptive tracking effect at 30 km/h

图19 60 km/h时的时域自适应跟踪效果

Fig.19 Time domain adaptive tracking effect at 60 km/h

图20 实车验证实验原型

Fig.20 Prototype of real vehicle verification experiment

图21 SLAM建图及路径规划曲线

Fig.21 SLAM mapping and path planning curves

图22 策略优化前后跟踪效果图

Fig.22 Tracking effect diagram before and after strategy optimization

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