重庆理工大学学报2024，Vol.38Issue(3)：87-98,12.DOI:10.3969/j.issn.1674-8425(z).2024.02.009
基于自适应预瞄路径的非连续曲率轨迹跟踪控制方法
Research on discontinuous curvature trajectory tracking control method based on adaptive pre-aiming path
摘要
Abstract
Intelligent vehicles have poor tracking effect under complex traffic conditions.To address the problem,this paper proposes a discontinuous curvature trajectory tracking control strategy considering vehicle steering safety.Based on the influence of road curvature and vehicle speed index,an improved pre-aiming error model is designed.Combined with the safety speed constraint,an adaptive presight controller is built.The pre-sight path and road curvature are obtained by five-order polynomial fitting.According to the pre-sighted position geometry,the driver steering model is designed and the front wheel angle equation is derived.Matlab/Simulink,Carsim and Prescan are employed to build a joint simulation platform,and the double line shift,discontinuous curvature trajectory and continuous lane change conditions are selected for comparative experiments.Our results show under the above working conditions,the control algorithm achieves the adaptive adjustment of the pre-aiming path with the change of external conditions,and it improves the tracking accuracy by about 55.34%,65.86%and 46%respectively while ensuring the stability,safety and adaptability of the vehicle.关键词
智能车辆/轨迹跟踪/曲率/预瞄路径/自适应控制Key words
intelligent vehicles/trajectory tracking/curvature/pre-sighting path/adaptive control分类
信息技术与安全科学引用本文复制引用
李杭宇,刘冉冉,姜宇,王文豪,李峰,郭威..基于自适应预瞄路径的非连续曲率轨迹跟踪控制方法[J].重庆理工大学学报,2024,38(3):87-98,12.基金项目
国家自然科学基金项目(62003150 （）
62003151) （）
江苏省高等学校基础科学(自然科学)面上项目(21KJB120002) （自然科学）
江苏省研究生科研与实践创新计划项目(SJCX23-1630) （SJCX23-1630）
