融合摩擦因数估计的自动驾驶汽车集成路径跟踪控制

doi:10.3901/JME.2025.20.243

摘要/Abstract

摘要： 转向和差动制动集成控制是提高自动驾驶汽车在低摩擦、高速等极限工况下稳定性的关键技术。道路摩擦因数是车辆动力学建模和控制的关键参数。为解决现有转向和差动制动集成路径跟踪控制方法无法保证控制最优性和轮胎力利用不合理的问题以及车辆系统的强非线性和多约束因素导致道路摩擦因数估计困难的问题，提出一种考虑轮胎力最优利用的一体式转向和差动制动集成路径跟踪控制方法和一种基于非线性优化的道路摩擦因数估计方法，并设计了融合摩擦因数估计的自动驾驶汽车集成路径跟踪控制系统。基于ROS、Simulink和CarSim的硬件在环试验结果表明：提出的转向和差动制动集成路径跟踪控制方法显著提高了自动驾驶汽车极限工况下的路径跟踪精度和稳定性；提出的摩擦因数估计方法表现出更高的估计精度，并能够在闭环控制中实时提供可靠的估计结果。

关键词: 自动驾驶汽车, 车辆稳定性, 底盘集成控制, 路径跟踪控制, 摩擦因数估计

Abstract: The integrated control of steering and differential braking is the key technology to improve the stability of autonomous vehicles in extreme conditions such as low friction and high speed. The road friction coefficient is a key parameter for vehicle dynamics modeling and control. To solve the problem that the existing steering and differential braking integrated path tracking control methods can not guarantee the control optimality and the unreasonable utilization of tire force, as well as the difficulties in estimating the road friction coefficient due to the strong nonlinearity and multiple constraints of the vehicle system, in this study, a one-layer steering and differential braking integrated path tracking control method considering the optimal utilization of tire force and a road friction coefficient estimation method based on nonlinear optimization is proposed, and an integrated path tracking control system for autonomous vehicles incorporating friction coefficient estimation is designed. The results of hardware-in-the-loop tests based on ROS, Simulink and CarSim show that the proposed steering and differential braking integrated path tracking control method dramatically improves the path tracking accuracy and stability of autonomous vehicles under extreme conditions; the proposed friction coefficient estimation method exhibits higher estimation accuracy and can provide reliable estimation results in closed-loop control in real-time.

Key words: autonomous vehicle, vehicle stability, chassis integrated control, path tracking control, friction coefficient estimation

中图分类号:

U461

王国栋, 刘立, 孟宇, 白国星, 王家轩, 顾青. 融合摩擦因数估计的自动驾驶汽车集成路径跟踪控制[J]. 机械工程学报, 2025, 61(20): 243-252.

WANG Guodong, LIU Li, MENG Yu, BAI Guoxing, WANG Jiaxuan, GU Qing. Integrated Path Tracking Control of Autonomous Vehicles Incorporating Friction Coefficient Estimation[J]. Journal of Mechanical Engineering, 2025, 61(20): 243-252.

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