|Table of Contents|

Lateral tracking control method for high-speed unmanned vehicles with multiple constraints considering road curvature(PDF)

长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2023年2期
Page:
120-134
Research Field:
汽车与机械工程
Publishing date:

Info

Title:
Lateral tracking control method for high-speed unmanned vehicles with multiple constraints considering road curvature
Author(s):
LIU Ping;  LIU Zi-bin;  YANG Ming-liang;  WU Chao-hui
1. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, Sichuan, China; 2. Engineering Research Center of Advanced Drive Energy Saving Technology, Ministry ofEducation, Southwest Jiaotong University, Chengdu 610031, Sichuan, China
Keywords:
automobile engineering;  lateral tracking;  model predictive control(MPC);  high-speed unmanned vehicle;  continuous adaptive piecewise fitting method;  cubic Bézier curve;  road curvature
PACS:
U461
DOI:
10.19721/j.cnki.1671-8879.2023.02.012
Abstract:
In order to improve the effective stability control of the model predictive control(MPC)method in the lateral tracking of high-speed unmanned vehicles, a high-speed vehicle dynamics model considering yaw, sideslip and curvature was established. An adaptive piecewise fitting method based on cubic Bézier curve was proposed to obtain the road curvature. Then, a new MPC controller was designed with the objective of the quadratic optimization of the heading deviation, lateral deviation and slip rate, which considered the vehicle slip stability constraints, the road environment constraints and the coupling force of the tire constraints. Based on the MPC method, a CarSim Simulink co-simulation model was built in the simulation case. Two simulation conditions of constant high-speed on high adhesion road surface and variable speed on low adhesion road surface were simulated. The results show that under the condition of constant high speed, the lateral tracking error of the vehicle at different speeds in different road curvature is within0.6 m, the maximum optimized front wheel steering angle is 0.1 rad, and the phase plane of yaw rate and lateral velocity is also within the envelope. When the vehicle is tracking at constant speed in the large curvature path, the average lateral tracking error is 0.221 9 m, and the average yaw rate is0.180 8 rad·s-1, which is significantly improved, compared with the tracking effect without considering the constraint of road curvature/slip stability. Also the lateral tracking error of the front wheel steering angle constraint under the condition of low adhesion road with small curvature/large curvature path variable speed is significantly reduced, compared with that without considering the tire coupling force(the reduction is 56.14% under the condition of low adhesion road with small curvature path). The phase plane range of yaw rate and lateral velocity is also significantly reduced. In a word, the results show that the proposed method can overcome the constraints of slip, road environment and coupling force of the tire under different terrain curvature and road adhesion coefficient, and has good lateral tracking accuracy and yaw stability.4 tabs, 31 figs, 26 refs.

References:

[1] 孙国君,孙怀君,马银余.一种风冷式汽车制动摩擦片[J].汽车维护与修理,2020(15):2.
SUN Guo-jun,SUN Huai-jun,MA Yin-yu.The utility model relates to anair-cooled automobile brake friction disc[J].Car Maintenance and Repair,2020(15):2.
[2]王万丰.我国道路交通安全事故统计分析[J].中国安全生产,2020,15(3):52-53.
WANG Wan-feng.Statistical analysis of road traffic accidents in China[J].China Occupational Safety and Health,2020,15(3):52-53.
[3]袁晶鑫.基于CarSim的智能车辆路径跟踪控制算法研究[D].长春:吉林大学,2019.
YUAN Jing-xin.Research of intelligent vehicle path tracking control algorithm based on CarSim[D].Changchun:Jilin University,2019.
[4]LIU K,GONG J,KURT A,et al.A model predictive-based approach for longitudinal control in autonomous driving with lateral interruption[C]//IEEE.Proceedings of International Conference on Intelligent Vehicles Symposium(Ⅳ)New Yorok:IEEE,2017:359-364.
[5]龚大为.自动驾驶汽车横向控制综述[J].内燃机与配件,2020(16):190-191.
GONG Da-wei.A review of lateral control for autonomous vehicles[J].Internal Combustion Engine & Parts,2020(16):190-191.
[6]YU J M,HUANG M,YAN C Y.Trajectory tracking of intelligent vehicle using model predictive control based on neural-dynamics optimization[C]//IEEE.Proceedings of 2019 Chinese Automation Congress(CAC).New York:IEEE,2019:588-593.
[7]王 浩,林 棻,张尧文.基于模拟退火算法的无人驾驶车辆轨迹跟踪控制[J].重庆理工大学学报(自然科学),2015,29(11):106-111,119.
WANG Hao,LIN Fen,ZHANG Yao-wen.Research on trajectory tracking control of self-driving vehicle based on simulated annealing algorithm[J].Journal of Chongqing University of Technology(Natural Science),2015,29(11):106-111,119.
[8]王天舸.智能驾驶汽车运动规划与运动控制方法研究[D].长春:吉林大学,2019.
WANG Tian-ge.Study on motion plan and motion control method of intelligent driving vehicle[D].Changchun:Jilin University,2019.
[9]FALCONE P,BORRELLI F,ASGARI J,et al.Predictive active steering control for autonomous vehicle systems[J].IEEE Transactions on Control Systems Technology,2007,15(3):566-580.
[10]XU H,ZHU J.Interval trajectory tracking for AGV based on MPC[C]//IEEE.Proceedings of 2019 Chinese Control Conference(CCC).New York:IEEE,2019:2835-2839.
[11]SHEN C,GUO H Y,LIU F,et al.MPC-based path tracking controller design for autonomous ground vehicles[C]//IEEE.Proceedings of 2017 Chinese Control Conference(CCC).New York:IEEE,2017:9584-9589.
[12]YUAN S T,ZHAO P C,ZHANG Q Y,et al.Research on model predictive control-based trajectory tracking for unmanned vehicles[C]//IEEE.Proceedings of 2019 4th International Conference on Control and Robotics Engineering(ICCRE).New York:IEEE,2019:79-86.
[13]BO Y,GUO H Y,SHEN C,et al.MPC-based path tracking controller design for intelligent driving vehicle[C]//IEEE.Proceedings of 2019 Chinese Control Conference(CCC).New York:IEEE,2019:3006-3011.
[14]CAI J Y,JIANG H B,CHEN L,et al.Implementation and development of a trajectory tracking control system for intelligent vehicle[J].Journal of Intelligent & Robotic Systems,2019,94(1):251-264.
[15]席裕庚,李德伟,林 姝.模型预测控制:现状与挑战[J].自动化学报,2013,39(3):222-236.
XI Yu-geng,LI De-wei,LIN Shu.Model predictive control—Status and challenges[J].Acta Automatica Sinica,2013,39(3):222-236.
[16]龚建伟,姜 岩,徐 威.无人驾驶车辆模型预测控制[M].北京:北京理工大学出版社,2014.
GONG Jian-wei,JIANG Yan,XU Wei.Model predictive control for self-driving vehicles[M].Beijing:Beijing Insititute of Technology Press,2014.
[17]陈慧岩,陈舒平,龚建伟.智能汽车横向控制方法研究综述[J].兵工学报,2017,38(6):1203-1214.
CHEN Hui-yan,CHEN Shu-ping,GONG Jian-wei.A review on the research of lateral control for intelligent vehicles[J].Acta Armamentarii,2017,38(6):1203-1214.
[18]孙 浩,杜 煜,丁建文.考虑轮胎力耦合约束的智能汽车轨迹跟踪控制算法[J].中国惯性技术学报,2019,27(6):804-810.
SUN Hao,DU Yu,DING Jian-wen.Intelligent vehicle trajectory tracking algorithm taking into account tire force coupling constraints[J].Journal of Chinese Inertial Technology,2019,27(6):804-810.
[19]余志生.汽车理论[M].2版.北京:机械工业出版社,1990.
YU Zhi-sheng.Automobile theory[M].2nd ed.Beijing:China Machine Press,1990.
[20]INAGAKI S,KSHIRO I,YAMAMOTO M.Analysis on vehicle stability in critical cornering using phase-plane method[J].JSAE Review,1994,16(2):216-216.
[21]BOBIER C G,GERDES J C.Envelope control:Stabilizing within the limits of handling using a sliding surface[J].IFAC Proceedings Volumes,2010,43(7):162-167.
[22]ERLIEN S M,FUJITA S,GERDES J C.Shared steering control using safe envelopes for obstacle avoidance and vehicle stability[J].IEEE Transactions on Intelligent Transportation Systems,2016,17(2):441-451.
[23]FUNKE J,BROWN M,ERLIEN S M,et al.Collision avoidance and stabilization for autonomous vehicles in emergency scenarios[J].IEEE Transactions on Control Systems Technology,2017,25(4):1204-1216.
[24]MATTINGLEY J,BOYD S.CVXGEN:A code generator for embedded convex optimization[J].Optimization and Engineering,2012,13(1):1-27.
[25]朱方博.典型工况下的智能车横向跟踪控制及模式切换研究[D].镇江:江苏大学,2019.
ZHU Fang-bo.Research on lateral tracking control and mode switching of intelligent vehicle under typical conditions[D].Zhenjiang:Jiangsu University,2019.
[26]杨阳阳,何志刚,汪若尘,等.智能车辆路径跟踪横向混合控制器设计[J].重庆理工大学学报(自然科学),2018,32(11):7-14.
YANG Yang-yang,HE Zhi-gang,WANG Ruo-chen,et al.Mixed lateral controller design for path tracking of intelligent vehicle[J].Journal of Chongqing University of Technology(Natural Science),2018,32(11):7-14.

Memo

Memo:
-
Last Update: 2023-03-30