湖北汽车工业学院学报2025，Vol.39Issue(1)：1-8,8.DOI:10.3969/j.issn.1008-5483.2025.01.001
智能汽车轨迹跟踪综合控制策略
Integrated Trajectory Tracking Control Strategy for Intelligent Vehicles
摘要
Abstract
In order to improve the trajectory tracking control accuracy and driving stability of intelligent vehicles,a trajectory tracking control strategy combining lateral and longitudinal directions was pro-posed.The adaptive model predictive control was used for the lateral direction,and the recursive least squares algorithm was used to estimate the tire cornering stiffness in real time.The influence of the pre-diction time domain and the control time domain parameters on the model predictive controller was ana-lyzed,and the evaluation index was established for assessing trajectory tracking control.Double propor-tion-integration-differentiation(PID)control was used in the longitudinal direction to reduce the differ-ence between the expected speed and the actual speed.The integrated control of lateral steering wheel angle and longitudinal speed was realized,and simulation verification was carried out by Simulink and CarSim under different vehicle speeds and road adhesion coefficients.The experimental results show that the adaptive model predictive control can effectively reduce the lateral deviations,and the pro-posed control strategy can achieve accurate tracking.关键词
参数估计/自适应模型预测控制/时域参数Key words
parameter estimation/adaptive model predictive control/time domain parameter分类
交通运输引用本文复制引用
高峰,冯樱,杨烜,何建彪..智能汽车轨迹跟踪综合控制策略[J].湖北汽车工业学院学报,2025,39(1):1-8,8.基金项目
中央引导地方科技发展专项(2019ZYYD019) （2019ZYYD019）
