机械科学与技术2024，Vol.43Issue(2)：197-202,6.DOI:10.13433/j.cnki.1003-8728.20220204
无人车辆横向跟踪控制研究
Research on Lateral Tracking Control of Autonomous Vehicles
摘要
Abstract
The traditional model predictive control method is used to track the vehicle trajectory,the road adhesion coefficient in the model is often fixed as the empirical value of the current road.When the vehicle is driving on unknown road,it is difficult to adjust the inboard constraint of predictive control model in real time,and it is difficult to correct the road adhesion coefficient in time,which leads to vehicle lateral instability.In this paper,a model predictive control algorithmconsidering real-time road adhesion coefficient is proposed to realize trajectory tracking.Under the condition of unknown road friction coefficient,the algorithm predicts the road adhesion coefficient through the vehicle's current transverse and longitudinal acceleration,yaw rate,front wheel angle and other state variables,and adjusts the yaw angle constraint in the control model in real time.Even under the unknown road surface,it can provide redundant protection for vehicle control and ensure the vehicle to follow the expected trajectory.关键词
模型预测控制/扩展卡尔曼滤波/路面附着系数预测/轨迹跟踪控制Key words
model predictive control/extended Kalman filter/prediction of pavement adhesion coefficient/trajectory tracking control分类
交通工程引用本文复制引用
李伯雄,王立勇,孙鹏,季文龙..无人车辆横向跟踪控制研究[J].机械科学与技术,2024,43(2):197-202,6.基金项目
北京信息科技大学"勤信人才"培育计划项目(QXTCPA201903,QXTCPB201901)与促进内涵发展科研水平提高项目(2020KYNH112) （QXTCPA201903,QXTCPB201901）
