智能汽车的路面附着极限横向轨迹跟踪控制

doi:10.3901/JME.2020.14.138

机械工程学报 ›› 2020, Vol. 56 ›› Issue (14): 138-145.doi: 10.3901/JME.2020.14.138

扫码分享

智能汽车的路面附着极限横向轨迹跟踪控制

辛喆¹, 陈海亮¹, 林子钰², 孙恩鑫¹, 孙琪², 李升波²

1. 中国农业大学工学院北京 100083;
2. 清华大学汽车工程系北京 100084

收稿日期:2019-07-24 修回日期:2020-02-29 出版日期:2020-07-20 发布日期:2020-08-12
作者简介:辛喆,女,1964年出生,博士,教授。主要研究方向为车辆智能化及电气化。E-mail:xinzhe@cau.edu.cn;陈海亮,男,1992年出生,硕士。主要研究方向为车辆动力学控制。E-mail:chenhailiang_cau@126.com;林子钰,女,1994年出生,博士。主要研究方向为自动驾驶及动力学控制。E-mail:linzy17@mails.tsinghua.edu.cn;孙恩鑫,男,1996年出生,硕士。主要研究方向为自动驾驶及最优估计。E-mail:enxinsun1996@163.com;孙琪,男,1989年出生,博士。主要研究方向为自动驾驶技术及分布式协作。E-mail:qisun@mail.tsinghua.edu.cn;李升波,男,1982年出生,博士,副教授。主要研究方向为自动驾驶技术、强化学习、分布式控制等。E-mail:lishbo@tsinghua.edu.cn
基金资助:
国家自然科学基金资助项目（U1664263和61790561）。

Lateral Trajectory Following for Automated Vehicles at Handling Limits

XIN Zhe¹, CHEN Hailiang¹, LIN Ziyu², SUN Enxin¹, SUN Qi², LI Shengbo²

1. College of Engineering, China Agricultural University, Beijing 100083;
2. Department of Automotive Engineering, Tsinghua University, Beijing 100084

Received:2019-07-24 Revised:2020-02-29 Online:2020-07-20 Published:2020-08-12

摘要/Abstract

摘要： 在极限轮胎-路面条件下，智能汽车的横向操纵性能急剧恶化，增加了自动驾驶系统的控制难度。现有研究主要聚焦智能汽车轨迹跟踪的性能，但是难以解决低附着路面、紧急避障等极限工况下的智能汽车轨迹跟踪时的安全性和稳定性。利用模型预测控制方法实现了智能汽车的轨迹跟踪，同时保证智能汽车行驶稳定性和安全性，仿真试验同样表明该控制器具有较好的鲁棒性。结合二次型代价函数和安全约束构建了轨迹跟踪的开环最优预测控制问题，通过约束车辆的前后轮侧偏角，保持极限工况下智能汽车的行驶稳定性。研究方法与结果可为智能汽车设计提供参考。

关键词: 自动驾驶, 智能车辆, 胎动力学, 横向稳定性, 预测控制

Abstract: Under the limiting tire-road condition, the lateral operating control performance of vehicles would deteriorate sharply, which increases the control difficulty of the autopilot system. The existing researches mainly focused on the performance of intelligent vehicle trajectory trace controls without considerations of the safety and stability of the vehicle under low traction road surface, emergency obstacle avoidance and other limiting operation conditions. A lateral motion control method for automated vehicles is proposed by using the model predictive control (MPC) framework, which can ensure the driving stability and safety of intelligent vehicles. Meanwhile the simulation test results also show that the designed controller has a strong robustness. The open loop optimal control problem is formulated by using quadratic cost function and squared safety envelope. The side-slip angles of both front and rear wheels are constrained as the safety envelope so as to ensure the vehicle stability under the limiting operation conditions. The research methods and results can provide a reference for intelligent vehicle design.

Key words: automatic steering, intelligent vehicles, tire dynamics, lateral stability, predictive control

中图分类号:

U467

辛喆, 陈海亮, 林子钰, 孙恩鑫, 孙琪, 李升波. 智能汽车的路面附着极限横向轨迹跟踪控制[J]. 机械工程学报, 2020, 56(14): 138-145.

XIN Zhe, CHEN Hailiang, LIN Ziyu, SUN Enxin, SUN Qi, LI Shengbo. Lateral Trajectory Following for Automated Vehicles at Handling Limits[J]. Journal of Mechanical Engineering, 2020, 56(14): 138-145.

参考文献

[1] SIAMPIS E, VELENIS E, GARIUOLO S, et al. A real-time nonlinear model predictive control strategy for stabilization of an electric vehicle at the limits of handling[J]. IEEE Transactions on Control Systems Technology, 2017, 26(6):1982-1994.
[2] 孙银健. 基于模型预测控制的无人驾驶车辆轨迹跟踪控制算法研究[D]. 北京:北京理工大学, 2015. SUN Yinjian. Research on model prediction control-based trajectory tracking algorithm for unmanned vehicles[D]. Beijing:Beijing Institute of Technology, 2015.
[3] INAGAKI S, KUSHIRO I, YAMAMOTO M. Analysis on vehicle stability in critical cornering using phase-plane method[J]. Jsae Review, 1995, 2(16):216-217.
[4] ONO E, HOSOE S, TUAN H D, et al. Bifurcation in vehicle dynamics and robust front wheel steering control[J]. IEEE Transactions on Control Systems Technology, 1998, 6(3):412-420.
[5] BOBIER C G, GERDES J C. Staying within the nullcline boundary for vehicle envelope control using a sliding surface[J]. Vehicle System Dynamics, 2013, 51(2):199-217.
[6] ERLIEN S M, FUJITA S, GERDES J C. Shared steering control using safe envelopes for obstacle avoidance and vehicle stability[J]. IEEE Transactions on Intelligent Transportation Systems, 2016, 17(2):441-451.
[7] LI Shengbo, LI Keqiang, RAJESH R, et al. Model predictive multi-objective vehicular adaptive cruise control[J]. IEEE Transactions on Control System Technology, 2011, 19(3):556-566.
[8] LI Shengbo, LI Keqiang, WANG Jianqiang. Economy oriented vehicle adaptive cruise control with coordinating multiple objectives function[J]. Vehicle System Dyna-mics, 2013, 51(1):1-17.
[9] LI Shengbo, JIA Zhenzhong, LI Keqiang, et al. Fast online computation of a model predictive controller and its application to fuel economy:Oriented adaptive cruise control[J]. IEEE Transactions on Intelligent Transportation System, 2015, 16(3):1199-1209.
[10] LI Renjie, LI Yanan, LI Shengbo, et al. Driver-automation indirect shared control of highly automated vehicles with intention-aware authority transition[C]//The 2017 IEEE Intelligent Vehicles Symposium, 2017.
[11] LI Renjie, LI Shengbo, GAO Hongbo, et al. Effects of human adaptation and trust on shared control for driver-automation cooperative driving[R]. SAE Intel-ligent and Connected Vehicles Symposium, 2017.
[12] JI J, KHAJEPOUR A, MELEK W W, et al. Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints[J]. IEEE Transactions on Vehicular Technology, 2017, 66(2):952-964.
[13] FACLONE P, BORRELLI F, TSENG H E, et al. Linear time-varying model predictive control and its application to active steering systems:Stability analysis and experimental validation[J]. International Journal of Robust and Nonlinear Control, 2008, 18(8):862-875.
[14] FALCONE P, TSENG H E, ASGARI J, et al. Integrated braking and steering model predictive control approach in autonomous vehicles[J]. IFAC Proceedings Volumes, 2007, 40(10):273-278.
[15] LÖFBERG J. Modeling and solving uncertain optimi-zation problems in YALMIP[J]. IFAC Proceedings Volu-mes, 2008, 41(2):1337-1341.

智能汽车的路面附着极限横向轨迹跟踪控制

Lateral Trajectory Following for Automated Vehicles at Handling Limits

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	柳晨光, 初秀民, 毛庆洲, 谢朔. 无人船自适应路径跟踪控制系统[J]. 机械工程学报, 2020, 56(8): 216-227.
[2]	张渊博, 王伟达, 张华, 杨超, 项昌乐, 李亮. 基于新型改进遗传算法的混合动力客车高效制动能量回收预测控制策略研究[J]. 机械工程学报, 2020, 56(18): 105-115.
[3]	王博洋, 龚建伟, 张瑞增, 陈慧岩. 基于真实驾驶数据的运动基元提取与再生成[J]. 机械工程学报, 2020, 56(16): 155-165.
[4]	胡晓松, 陈科坪, 唐小林, 王斌. 基于机器学习速度预测的并联混合动力车辆能量管理研究[J]. 机械工程学报, 2020, 56(16): 181-192.
[5]	刘照麟, 陈吉清, 兰凤崇, 夏红阳. 基于轨迹张量的自动驾驶复合信息综合映射方法[J]. 机械工程学报, 2020, 56(16): 214-226.
[6]	唐小林, 李珊珊, 王红, 段紫文, 李以农, 郑玲. 网联环境下基于分层式模型预测控制的车队能量控制策略研究[J]. 机械工程学报, 2020, 56(14): 119-128.
[7]	武和全, 旷世杰, 胡林. 老年乘员在自动驾驶车辆中的碰撞响应研究[J]. 机械工程学报, 2020, 56(12): 144-154.
[8]	王艺, 蔡英凤, 陈龙, 王海, 何友国, 李健. 基于模型预测控制的智能网联汽车路径跟踪控制器设计[J]. 机械工程学报, 2019, 55(8): 136-144,153.
[9]	闫涵,吕建国,丁金勇,马丙辉,阎亦然. 非理想电网下NPC三电平逆变器多目标模型预测控制方法研究 ^*[J]. 电气工程学报, 2019, 14(3): 23-32.
[10]	林程, 曹放, 梁晟, 高翔, 董爱道. 双电机后驱车辆操纵稳定性分层混杂模型预测控制[J]. 机械工程学报, 2019, 55(22): 123-130.
[11]	赵治国, 倪润宇, 姜斯文, 雷丹. DCT变速四驱HEV混动至纯电动模式切换优化控制[J]. 机械工程学报, 2019, 55(22): 140-152.
[12]	王万东, 王志江, 胡绳荪, 薛坤喜, 赵冠成. 基于Hammerstein模型的GMAW-P焊接熔深自适应预测控制[J]. 机械工程学报, 2019, 55(19): 138-145.
[13]	高振刚, 陈无畏, 谈东奎, 赵林峰, 汪洪波. 考虑驾驶员操纵失误的车道偏离辅助人机协同控制[J]. 机械工程学报, 2019, 55(16): 91-103.
[14]	夏光, 杜克, 谢海, 唐希雯, 陈无畏. 基于侧倾分级的叉车横向稳定性变论域模糊控制[J]. 机械工程学报, 2019, 55(12): 157-167.
[15]	张风奇, 胡晓松, 许康辉, 唐小林, 崔亚辉. 混合动力汽车模型预测能量管理研究现状与展望[J]. 机械工程学报, 2019, 55(10): 86-108.