无人车辆横向跟踪控制研究OA北大核心CSTPCD

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.