[1]李军,宋永雄,周舟.自动驾驶车辆的变步长路径跟踪控制[J].华侨大学学报(自然科学版),2022,43(1):14-20.[doi:10.11830/ISSN.1000-5013.202103045]
　LI Jun,SONG Yongxiong,ZHOU Zhou.Variable-Step Size Path Tracking Control of Autonomous Vehicles[J].Journal of Huaqiao University(Natural Science),2022,43(1):14-20.[doi:10.11830/ISSN.1000-5013.202103045]
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自动驾驶车辆的变步长路径跟踪控制()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第43卷
期数:
2022年第1期
页码:
14-20
栏目:
出版日期:
2022-01-09

文章信息/Info

Title:
Variable-Step Size Path Tracking Control of Autonomous Vehicles
文章编号:
1000-5013(2022)01-0014-07
作者:
李军1; 2;  宋永雄1; 2;  周舟3
1. 重庆交通大学 机电与车辆工程学院, 重庆 400074;2. 重庆交通大学 重庆市轨道交通车辆系统集成与控制重点实验室, 重庆 400074;3. 中国通用技术集团, 北京 100055
Author(s):
LI Jun1; 2;  SONG Yongxiong1; 2;  ZHOU Zhou3
1. College of Mechanical and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China; 2. Chongqing Key Laboratory of Rail Transit Vehicle System Integration and Control, Chongqing Jiaotong University, Chongqing 400074, China; 3. China General Technology Group, Beijing 100055, China
关键词:
路径跟踪;  变步长;  模型预测控制器;  稳定性
Keywords:
path tracking;  variable-step size;  model predictive controller;  stability
分类号:
U461
DOI:
10.11830/ISSN.1000-5013.202103045
文献标志码:
A
摘要:
为提高自动驾驶车辆路径跟踪控制的稳定性并保证实时性,设计变步长模型预测控制器.通过变步长对预测时域进行分级,引入道路曲率及侧偏角约束,采用CVXGEN进行优化求解.通过Carsim和Matlab/Simulink联合仿真,对文中方法进行验证.结果表明:变步长模型预测控制器既能保证较好的跟踪效果,又能确保车辆行驶的稳定性.
Abstract:
In order to improve the stability of automatic driving vehicle path tracking control and ensure real-time performance, a variable-step size model prediction controller was designed. The prediction time domain was classified by variable-step size, the road curvature and the constraints of sideslip angle were introduced, and the optimization solution was carried out by CVXGEN. The method was verified by the joint simulation of CarSim and Matlab/Simulink. The results show that variable-step size model prediction controller can not only guarantee better tracking effect, but also ensure the stability of vehicle driving.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2021-03-30
通信作者: 李军(1964-),男,教授,博士,主要从事节能与新能源汽车性能评价的研究.E-mail:cqleejun@163.com.
基金项目: 国家自然科学基金资助项目(51305472); 重庆市重点实验室项目(CSTC2015yfpt-zdsys30001); 重庆市研究生联合培养项目(JDLHPYJD2018003)
更新日期/Last Update: 2022-01-20