考虑横摆稳定性的无人车轨迹跟踪控制优化研究

doi:10.3901/JME.2022.06.130

机械工程学报 ›› 2022, Vol. 58 ›› Issue (6): 130-142.doi: 10.3901/JME.2022.06.130

扫码分享

考虑横摆稳定性的无人车轨迹跟踪控制优化研究

吴西涛,魏超,翟建坤,苑士华

北京理工大学坦克传动国防科技重点实验室北京 100081

收稿日期:2021-06-09 修回日期:2021-11-01 出版日期:2022-03-20 发布日期:2022-05-19
通讯作者: 魏超,男,1980年出生,博士,教授,博士研究生导师。主要研究方向为无人驾驶车辆技术。E-mail:weichaobit@163.com
作者简介:吴西涛,男,1991年出生,博士研究生。主要研究方向为无人驾驶车辆技术。E-mail:wu.xitao@qq.com
基金资助:
国家自然科学基金资助项目(51875039)。

Study on the Optimization of Autonomous Vehicle on Path-following Considering Yaw Stability

WU Xitao, WEI Chao, ZHAI Jiankun, YUAN Shihua

Science and Technology on Vehicle Transmission Laboratory, Beijing Institute of Technology, Beijing 100081

Received:2021-06-09 Revised:2021-11-01 Online:2022-03-20 Published:2022-05-19

摘要/Abstract

摘要： 横摆稳定性和轨迹跟踪性能对无人车至关重要。为此，提出一种基于模型预测控制的轨迹跟踪控制器，将考虑瞬时极限性能的稳定性判据添加到控制器约束中，并且利用性能驱动的方式对控制器的参数进行优化。首先根据车辆3自由度动力学模型建立横摆角速度-质心侧偏角相平面，分析前轮转角对相平面平衡点的影响，通过建立相平面的等倾几何曲线，分析车辆的稳定性特征，设计出基于包络线的横摆稳定性判据。然后将模型预测控制器的代价函数参数化，根据性能目标设计特定场景的全局代价作为评价函数，利用贝叶斯优化进行预测时域和代价函数权重两类参数的优化，实现目标任务全局性能最优。仿真和实车试验表明，所提算法在保证车辆稳定的前提下，发挥了车辆的动力学极限，采用的贝叶斯优化方法对轨迹跟踪模型预测控制器的参数进行了优化，实现了轨迹跟踪性能的提高。

关键词: 无人驾驶车辆, 轨迹跟踪, 模型预测控制, 横摆稳定性判据, 贝叶斯优化

Abstract: Vehicle yaw stability and the performance of path-following are crucial to autonomous vehicles. A path-following controller based on model predictive control is designed. The stability criterion considering the instantaneous limit performance is added to the controller constraints, and the controller parameters are optimized in a performance-driven manner. Firstly, we established the phase plane of the yaw rate and the sideslip angle according to the vehicle's three-degree-of-freedom dynamic model, and the influence of the steering angle on the phase plane balance point is analyzed. By establishing the isotropic geometry of the phase plane, the stability characteristics of the vehicle are analyzed and the yaw stability criterion based on the envelope is formed. Secondly, we parameterize the cost function of the model predictive controller and design the global cost function of a specific scenario as the performance evaluation function, we use Bayesian optimization to optimize the prediction horizon and cost function weights to achieve the optimal global performance under target task. Finally, the simulation and real vehicle test show the algorithm exerts the vehicle to the dynamic limits and improves the tracking performance.

Key words: autonomous vehicles, path-following, model predictive control, yaw stability criterion, Bayesian optimization

中图分类号:

U461

吴西涛, 魏超, 翟建坤, 苑士华. 考虑横摆稳定性的无人车轨迹跟踪控制优化研究[J]. 机械工程学报, 2022, 58(6): 130-142.

WU Xitao, WEI Chao, ZHAI Jiankun, YUAN Shihua. Study on the Optimization of Autonomous Vehicle on Path-following Considering Yaw Stability[J]. Journal of Mechanical Engineering, 2022, 58(6): 130-142.

参考文献

[1] 龚建伟，姜岩，徐威. 无人驾驶车辆模型预测控制[M]. 北京：北京理工大学出版社，2014. GONG Jianwei，JIANG Yan，XU Wei，et al. Model predictive control for self-driving vehicles[M]. Beijing：Beijing Inst. Technol. Press，2014.
[2] ROBERT C H，JEFFREY L S，LOUCAS S L，et al. Using the milliken moment method and dynamic simulation to evaluate vehicle stability and controllability[J]. International Journal of Vehicle Design，2008，48：132-148.
[3] INAGAKI S，KSHIRO I，YAMAMOTO M. Analysis on vehicle stability in critical cornering using phase-plane method[C]// Proceedings of the International Symposium on Advanced Vehicle Control，Tsukuba-shi，1994.
[4] ONO E，HOSOE S，TUAN H，et al. Bifurcation invehicle dynamics and robust front wheel steering control[J]. IEEE Transactions on Control Systems Technology，1998，6：412-420.
[5] SACHS H K，SINGH M. Automobile stability-a study of the domain of attraction[J]. Vehicle System Dynamics，1977，6(2-3)：169-177.
[6] JOHN S，JEFFREY C H. Estimating lateral stability region of nonlinear 2 degree-of-freedom vehicle[C]// Proceedings of International Congress and Exposition，Detroit：SAE，1998，1-7.
[7] TAEYOUNG C，KYONGSU Y. Design and evaluation of side slip angle-based vehicle stability control scheme on a virtual test track[J]. IEEE Transactions on Control Systems Technology，2006，14(2)：224-234.
[8] BEAL C E，BOBIER C G，GERDES J C. Controlling vehicle instability through stable handling envelopes[C]//In Proceedings of the 2011 Dynamic Systems and Control Conference，Arlington，2011.
[9] GUO K H. A study of a phase plane representation for identifying vehicle behavior[J]. Vehicle System Dynamics，1986，15(1)：152-167.
[10] 张晨晨，夏群生，何乐. 质心侧偏角对车辆稳定性影响的研究[J]. 汽车工程，2011，33(4)：277-282. ZHANG Chenchen，XIA Quansheng，HE Le. A study on the influence of sideslip angle at mass center on vehicle stability[J]. Automotive Engineering，2011，33(4)：277-282.
[11] 刘飞，熊璐，邓律华，等. 基于相平面法的车辆行驶稳定性判定方法[J]. 华南理工大学学报，2014，42(11)：63-70. LIU Fei，XIONG Lu，DENG Jianhua，et al. Vehicle stability criterion based on phase plane method[J]. Journal of South China University of Technology，2014，42(11)：63-70.
[12] RAWLINGS J B，MAYNE D Q. Model predictive control：Theory and design[M]. Madison，USA：Nob Hill Pub，2009.
[13] ROSOLIA U，ZHANG X，BORRELLI F. Data-driven predictive control for autonomous systems[J]. Annual Review of Control，Robotics，and Autonomous. Systems，2018(1)：259-86.
[14] KABZAN J，HEWING L，LINIGER A，et al. Learning-based model predictive control for autonomous racing[J]. IEEE Robotics and Automation Letters，2019(4)：3363-3370.
[15] KIM T，KIM H J. Path tracking control and identification of tire parameters using on-line model-based reinforcement learning[C]//2016 16th International Conference on Control，Automation and Systems (ICCAS)，Gyeongju，2016：215-219.
[16] KABZAN J，HEWING L，LINIGER A，et al. Learning-based model predictive control for autonomous racing[J]. IEEE Robotics and Automation Letters，2019，4(4)：3363-3370.
[17] XU X，CHEN H，LIAN C，et al. Learning-based predictive control for discrete-time nonlinear systems with stochastic disturbances[J]. IEEE Transactions on Neural Networks and Learning Systems，2018，29(12)：6202-6213.
[18] TAMAR A，THOMAS G，ZHANG T，et al. Learning from the hindsight plan-episodic MPC improvement[C]//2017 IEEE International Conference on Robotics and Automation (ICRA)，Singapore，2017：336-343.
[19] ROSOLIA U，BORRELLI F. Learning model predictive control for iterative tasks. a data-driven control framework[J]. IEEE Transactions on Automatic Control，2017，63(7)：1883-1896.
[20] MARCO A，HENNIG P，BOHG J，et al. Automatic LQR tuning based on Gaussian process global optimization[C]//2016 IEEE International Conference on Robotics and Automation (ICRA)，2016：270-277.
[21] SU J，WU J，CHENG P，et al. Autonomous vehicle control through the dynamics and controller learning[J]. IEEE Transactions on Vehicular Technology，2018，67(7)：5650-5657.
[22] FALCONE P，ERIC T H，BORRELLI F，et al. MPC-based yaw and lateral stabilisation via active front steering and braking[J]. Vehicle System Dynamics，2008，46(Suppl.1)：611-628.

考虑横摆稳定性的无人车轨迹跟踪控制优化研究

Study on the Optimization of Autonomous Vehicle on Path-following Considering Yaw Stability

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]	杨泽坤, 李韶华, 王振峰. 基于自适应变参数MPC的分布式驱动智能车轨迹跟踪控制[J]. 机械工程学报, 2024, 60(6): 363-377.
[2]	汪首坤, 许永康, 陈志华, 司金戈, 李斌, 王军政. 无人机移动自主回收着陆原理及控制方法[J]. 机械工程学报, 2024, 60(3): 34-46.
[3]	郭景华, 李文昌, 王班, 王靖瑶. 基于深度强化学习的网联混合动力汽车队列控制[J]. 机械工程学报, 2024, 60(2): 262-271.
[4]	姚建均, 张宜坤, 柯运, 钱琛, 王超. 基于模型预测控制的机器人姿态控制策略研究[J]. 机械工程学报, 2024, 60(19): 88-100.
[5]	李昊, 宾洋, 胡杰, 岳肖, 金庭安, 张凯. 无偏显式模型预测控制及其在质子交换膜燃料电池净输出功率跟踪中的应用[J]. 机械工程学报, 2024, 60(14): 282-297.
[6]	何华, 刘全, 申屠舒展, 宫昭. 轮式多机协同搬运机器人轨迹跟踪控制器设计[J]. 机械工程学报, 2024, 60(11): 145-155.
[7]	郄天琪, 王伟达, 杨超, 李颖, 项昌乐. 面向分体式飞行汽车自主对接的自动驾驶底盘运动规划方法研究[J]. 机械工程学报, 2024, 60(10): 235-244.
[8]	刘聪, 刘辉, 韩立金, 聂士达. 基于学习型滑模预测控制的无人驾驶车辆非结构化环境轨迹跟踪及稳定性控制[J]. 机械工程学报, 2024, 60(10): 399-412.
[9]	张寒, 刘开华, 王春燕, 赵万忠, 栾众楷. 四轮分布式线控转向系统稳定与协调控制研究[J]. 机械工程学报, 2024, 60(10): 425-438.
[10]	李兵兵, 庄伟超, 刘昊吉, 张昊, 殷国栋, 张建润. 基于自学习型MPC的网联电动汽车生态驾驶控制策略研究[J]. 机械工程学报, 2024, 60(10): 453-462.
[11]	林棻, 郝明彪, 王天成, 王骁侠. 基于反步滑模法的无人驾驶车辆横向稳定性控制[J]. 机械工程学报, 2024, 60(10): 497-506.
[12]	林亮行, 马国政, 孙建芳, 韩翠红, 雍青松, 苏峰华, 王海斗. 基于VMD-EEMD-LSTM的涂层型关节轴承剩余使用寿命预测方法[J]. 机械工程学报, 2023, 59(9): 125-136.
[13]	王峰, 张健, 徐兴, 王春海, 阙红波, 高扬. 行星耦合PHEV模式切换过程全频段瞬态扭振特性分析与主动抑制[J]. 机械工程学报, 2023, 59(4): 173-189.
[14]	李韶华, 杨泽坤, 王雪玮. 基于T-S模糊变权重MPC的智能车轨迹跟踪控制[J]. 机械工程学报, 2023, 59(4): 199-212.
[15]	金贤球, 雷涛, 闵志豪, 宋丽娜, 张星雨, 张晓斌. 分布式电推进飞机能量优化动态管理技术研究^*[J]. 电气工程学报, 2023, 18(3): 315-331.