计及转向时延的车辆路径跟踪控制研究

doi:10.3901/JME.260275

摘要/Abstract

摘要： 路径跟踪是自动驾驶领域的重要技术，但传感器与执行器之间的通信时延和转向系统响应滞后会降低路径跟踪的精确性。针对这一问题，在深入分析转向时延对路径跟踪精度影响的基础上，构建转向时延的等效一阶线性模型，并设计融合目标路径预瞄曲率与转向时延补偿的前馈反馈一体化控制器，从而实现了自动驾驶车辆在不同车速和时延条件下的高精度路径跟踪，并基于Matlab/Simulink和Carsim软件构建融合转向时延特征的自动驾驶车辆联合仿真模型，对比分析不同控制算法下的车辆路径跟踪效果。结果表明，在低速条件下，所提出的一体化控制器的路径跟踪性能指标相较于传统LQR控制器、预瞄前馈控制器、时延补偿反馈控制器和滑模控制器分别提高了97.50%、82.27%、60.71%和95.56%；在中速条件下，性能指标分别提高94.38%、72.31%、48.12%和93.33%；在高速条件下，性能指标分别提高了77.51%、72.13%、75.06%和88.04%，展现出更优的路径跟踪性能。

关键词: 转向时延, 路径跟踪, 预瞄前馈控制, 最优控制方法, 反馈控制

Abstract: Path tracking is a crucial technology in the field of autonomous driving; however, communication delays between sensors and actuators, as well as steering system response lag, can significantly impair tracking accuracy. To address this issue, an equivalent first-order linear model of the steering delay is constructed based on an in-depth analysis of its impact on path tracking precision. A feedforward-feedback integrated controller is designed, incorporating previewed curvature of the target path and compensation for the steering delay, thereby enabling high-precision path tracking under various speeds and delay conditions. A co-simulation model of the autonomous vehicle integrating steering delay characteristics is developed using Matlab/Simulink and Carsim. Comparative analysis of path tracking performance under different control algorithms demonstrates that the proposed integrated controller achieves significant improvements: at low speed, the performance metric is improved by 97.50%, 82.27%, 60.71%, and 95.56% compared to the traditional LQR controller, preview feedforward controller, delay-compensated feedback controller, and sliding mode controller, respectively; at medium speed, the improvements are 94.38%, 72.31%, 48.12%, and 93.33%; and at high speed, the improvements are 77.51%, 72.13%, 75.06%, and 88.04%, indicating superior path tracking performance.

Key words: steering delay, path tracking, preview-feedforward control, optimal control method, feedback control

中图分类号:

U461

胡奇轩, 徐涛, 徐彬, 孔刘令涵. 计及转向时延的车辆路径跟踪控制研究[J]. 机械工程学报, 2026, 62(8): 489-500.

HU Qixuan, XU Tao, XU Bin, KONG Liulinghan. Research on Vehicle Path Tracking Control Considering Steering Delay[J]. Journal of Mechanical Engineering, 2026, 62(8): 489-500.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260275

http://www.cjmenet.com.cn/CN/Y2026/V62/I8/489

参考文献

[1] GUANETTI J ， KIM Y ， BORRELLI F. Control of connected and automated vehicles： State of the art and future challenges[J]. Annual Reviews in Control， 2018， 45： 18-40.
[2] ESKANDARIAN A， WU C， SUN C. Research advances and challenges of autonomous and connected ground vehicles[J]. IEEE Transactions on Intelligent Transportation Systems， 2021， 22(2)： 683-711.
[3] HU C ， RU Y ， LI X. Path tracking control for brake-steering tracked vehicles based on an improved pure pursuit algorithm[J]. Biosystems Engineering， 2024， 242： 1-15.
[4] SHI P， LI L， NI X. Intelligent vehicle path tracking control based on improved MPC and hybrid PID[J]. IEEE Access， 2022， 10： 94133-94144.
[5] ZHOU W， ZHAO Y， LIU Q. Lateral control strategy of vehicle path tracking based on improved LQR[J]. Journal of Huazhong University of Science and Technology， 2024， 52(3)： 135-141.
[6] KIM S， LEE J， HAN K， et al. Vehicle path tracking control using pure pursuit with MPC-based look-ahead distance optimization[J]. IEEE Transactions on Vehicular Technology， 2024， 73(1)： 53-66.
[7] 赵治国，周良杰，朱强. 无人驾驶车辆路径跟踪控制预瞄距离自适应优化[J]. 机械工程学报， 2018， 54(24)： 166-173. ZHAO Zhiguo， ZHOU Liangjie， ZHU Qiang. Preview distance adaptive optimization for the path tracking control of unmanned vehicle[J]. Journal of Mechanical Engineering， 2018， 54(24)： 166-173.
[8] 汪洪波，周俊涛，陈无畏，等. 基于转向/横摆纳什博弈的智能车辆路径跟踪协调控制[J]. 机械工程学报， 2024， 60(10)： 439-452. WANG Hongbo， ZHOU Juntao， CHEN Wuwei， et al. Intelligent vehicle path tracking coordinated control based on steering/yaw nash game[J]. Journal of Mechanical Engineering， 2024， 60(10)： 439-452.
[9] ZHU G， JIE H， ZHENG Z. MPC-based lateral motion control for autonomous vehicles through serially cascaded discretization method considering path preview[J]. International Journal of Control ， Automation and Systems， 2024， 22(5)： 1666-1679.
[10] YANG F， CAO X， XU T. A skid-steering method for path-following control of distributed-drive articulated heavy vehicles[J]. IEEE Access， 2022， 10： 31538-31547.
[11] WANG H， LIU B， PING X. Path tracking control for autonomous vehicles based on an improved MPC[J]. IEEE Access， 2019， 7： 161064-161073.
[12] XU S， PENG H. Design， analysis， and experiments of preview path tracking control for autonomous vehicles[J]. IEEE Transactions on Intelligent Transportation Systems， 2020， 21(1)： 48-58.
[13] DAI C， ZONG C， CHEN G. Path tracking control based on model predictive control with adaptive preview characteristics and speed-assisted constraint[J]. IEEE Access， 2020， 8： 184697-184709.
[14] 张昊，魏超，胡纪滨，等. 基于转向模式切换的三轴独立转向车辆路径跟踪控制研究[J]. 机械工程学报， 2024， 60(2)： 243-251. ZHANG Hao， WEI Chao， HU Jibin， et al. Research on three-axis independent steering vehicle path tracking control based on steering mode switching[J]. Journal of Mechanical Engineering， 2024， 60(2)： 243-251.
[15] 梁艺潇，李以农， KHAJEPOUR Amir，等. 基于转向与主动横摆力矩协调的四轮驱动智能电动汽车路径跟踪控制[J]. 机械工程学报， 2021， 57(6)： 142-155. LIANG Yixiao， LI Yinong， KHAJEPOUR A， et al. Path following control for four-wheel drive electric intelligent vehicle based on coordination between steering and direct yaw moment system[J]. Journal of Mechanical Engineering， 2021， 57(6)： 142-155.
[16] LIU Y， YUE M， ZHAO X， et al. Adaptive robust path tracking preview control for tractor-trailer trucks considering trailer sway and stochastic disturbances[J]. IEEE Transactions on Intelligent Transportation Systems， 2025， 26(4)： 5422-5434.
[17] WANG R， JING H， HU C. Robust H∞ path following control for autonomous ground vehicles with delay and data dropout[J]. IEEE Transactions on Intelligent Transportation Systems， 2016， 17(7)： 2042-2050.
[18] CAI G， XU L， LIU Y. Robust preview path tracking control of autonomous vehicles under time-varying system delays and saturation[J]. IEEE Transactions on Vehicular Technology， 2023， 72(7)： 8486-8499.
[19] ZHANG X， HAN Q， YU X. Survey on recent advances in networked control systems[J]. IEEE Transactions on Industrial Informatics， 2016， 12(5)： 1740-1752.
[20] CAO W， ZHUO E， HE Z. Preview-based path-tracking stability control with vehicle dynamic uncertainty via robust weighted LPV/H ∞ technique[J]. ISA Transactions， 2024， 152： 51-67.
[21] CHEN L， QIN Z， BIAN Y， et al. A learning-based path tracking framework integrating chance-aware TRFC estimation and control for autonomous electric-wheel vehicle[J]. IEEE Transactions on Intelligent Vehicles， 2025， 10(3)： 1894-1908.
[22] XU S， PENG H， TANG Y. Preview path tracking control with delay compensation for autonomous vehicles[J]. IEEE Transactions on Intelligent Transportation Systems， 2021， 22(5)： 2979-2989.
[23] CAI G， XU L， LIU Y. Robust preview path tracking control of autonomous vehicles under time-varying system delays and saturation[J]. IEEE Transactions on Vehicular Technology， 2023， 72(7)： 8486-8499.
[24] CAI G， XU L， LIU Y. A novel preview tracking control for autonomous vehicles under delays and disturbances[C] //20226th CAA International Conference on Vehicular Control and Intelligence (CVCI)， Nanjing， China， 2022： 1-6.
[25] JALALI M， KHAJEPOUR A， CHEN S. Handling delays in yaw rate control of electric vehicles using model predictive control with experimental verification[J]. Journal of Dynamic Systems， Measurement， and Control， 2017， 139(12)： 121001
[26] 陈昱衡，张海成，邹伟生. 考虑系统时延时的无人船路径跟踪控制[J]. 中国造船， 2023， 64(5)： 249-258. CHEN Yuheng， ZHANG Haicheng， ZOU Weisheng. Path tracking control of unmanned surface vehicles considering system time delay[J]. Shipbuilding of China， 2023， 64(5)： 249-258.
[27] 汤新华，成宇庆，潘树国. 基于时滞补偿的纯跟踪控制预瞄距离优化方法[J]. 中国惯性技术学报， 2023， 31(9)： 876-882. TANG Xinhua， CHENG Yuqing， PAN Shuguo. Optimal method for pure tracking control preview distance vased on time-delay compensation[J]. Journal of Chinese Inertial Technology， 2023， 31(9)： 876-882.
[28] 曹青松，易星，许力. 考虑网络通信时延的智能网联汽车横向鲁棒控制研究[J]. 公路交通科技， 2022， 39(2)： 150-182. CAO Qingsong， YI Xing， XU Li. Study on lateral robust control of intelligent connected vehicles considering network communication delay[J]. Journal of Highway and Transportation Research and Development， 2022， 39(2)： 150-182.
[29] ZHANG ， NIU R， WANG J. Path tracking control algorithm considering delay compensation[C] //20227th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)， Tianjin， China， 2022： 64-69.
[30] YU J， GUO X， PEI X. Path tracking control based on tube MPC and time delay motion prediction[J]. IET Intelligent Transport Systems， 2020， 14(1)： 1-12.
[31] RAJESH R. Vehicle dynamics and control[M]. Beijing： China Machine Press， 2011.
[32] XU S， PENG H， LU P. Design and experiments of safeguard protected preview lane keeping control for autonomous vehicles[J]. IEEE Access， 2020(8)： 29944- 29953.
[33] MOBAYEN S ， MAJD V J. Robust tracking control method based on composite nonlinear feedback technique for linear systems with time varying uncertain parameters and disturbances[J]. Nonlinear Dynamics， 2012， 70(1)： 171-180.
[34] 杜文龙，陈俐，刘文通，等. 考虑延迟的线控转向二自由度内模控制[J]. 中国机械工程， 2021， 32(16)： 1904-1911. DU Wenlong， CHEN Li， LIU Wentong， et al. 2DOF internal model control for steer-by-wire systems with time delay[J]. China Mechanical Engineering， 2021， 32(16)： 1904-1911.
[35] 吕颖，祁旭，刘秋铮，等. 考虑转向延迟特性的自动驾驶车辆路径跟踪控制方法[J]. 汽车工程， 2023， 45(12)： 2234-2241. LÜ Ying， QI Xu， LIU Qiuzheng， et al. Path tracking control method with steering lag for autonomous vehicles[J]. Automotive Engineering， 2023， 45(12)： 2234-2241.