重庆理工大学学报2025，Vol.39Issue(9)：55-62,8.DOI:10.3969/j.issn.1674-8425(z).2025.05.007
基于包络约束的无人车主动转向路径跟踪控制研究
Research on active steering path tracking control of unmanned vehicle based on envelope constraints
摘要
Abstract
To prevent the unmanned vehicle from skidding or drifting when turning due to excessive lateral acceleration,an active steering path tracking controller based on envelope constraints is proposed.The controller employs the instantaneous lateral deviation and heading deviation of the vehicle as dynamic feedback.It solves the optimal control sequence through real-time online calculation to achieve rolling optimization control.A two-degree-of-freedom yaw dynamic model considering curvature interference is established using the"brush"tire model.A"double shift line"is designed as a reference path.To ensure the linearized nonlinear tire model is only valid in the linear region of the tire lateral force,the range of the tire slip angle is optimized.Finally,a joint simulation verification is conducted in Carsim/Simulink.Simulation results show at a speed of 72 km/h,60 km/h and 36 km/h,the maximum lateral deviations are 0.56 m,0.28 m and 0.10 m respectively,the front wheel angles are all within the saturation constraint range of the steering mechanism,and the lateral velocity and yaw angular velocity of the center of mass of the controlled vehicle are within the envelope constraint range,confirming the effectiveness of the active steering controller.关键词
无人驾驶车辆/模型预测控制/主动转向控制/路径跟踪/包络约束Key words
unmanned vehicles/model predictive control/active steering control/path tracking/envelope constraint分类
交通工程引用本文复制引用
王正,姚嘉凌..基于包络约束的无人车主动转向路径跟踪控制研究[J].重庆理工大学学报,2025,39(9):55-62,8.基金项目
国家自然科学基金项目(51975299) （51975299）
南京林业大学自制实验教学仪器立项项目(nlzzyq202414) （nlzzyq202414）
扬州市重点研发项目(YZ2023009) （YZ2023009）
