搭载改进滑模控制的自动驾驶汽车轨迹跟踪控制

doi:10.3969/j.issn.1674-8484.2020.04.010

汽车安全与节能学报 ›› 2020, Vol. 11 ›› Issue (4): 503-510.DOI: 10.3969/j.issn.1674-8484.2020.04.010

搭载改进滑模控制的自动驾驶汽车轨迹跟踪控制

李磊¹^,²(), 李军¹^,²^,^*(), 张世义³

1.重庆交通大学机电与车辆工程学院,重庆,400074, 中国
2.重庆市轨道交通车辆系统集成与控制重点实验室（重庆交通大学）,重庆,400074,中国
3.重庆交通大学航运与船舶工程学院,重庆,400074,中国

收稿日期:2020-09-09 出版日期:2020-12-30 发布日期:2021-01-04
通讯作者: 李军
作者简介:*李军(1964–),男(汉),重庆,教授。E-mail:cqleejun@163.com。
李磊(1995–),男(汉),重庆,硕士研究生。E-mail:lileiCBD@163.com。
基金资助:
国家自然科学基金资助项目(51305472)

Trajectory tracking control of autonomous vehicles with optimized sliding mode control

LI Lei¹^,²(), LI Jun¹^,²^,^*(), ZHANG Shiyi³

1. School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China
2. Chongqing Key Laboratory of Rail Vehicle System Integration and Control (Chongqing Jiaotong University), Chongqing 400074, China
3. School of Shipping and Naval Engineering, Chongqing Jiaotong University, Chongqing 400074, China

Received:2020-09-09 Online:2020-12-30 Published:2021-01-04
Contact: LI Jun

摘要/Abstract

摘要：

为了提高自动驾驶汽车在各种干扰因素下轨迹跟踪控制的鲁棒性,提出了一种改进滑模控制的鲁棒控制器。通过采用时变误差模型来设计滑模面, 而不是恒定滑模面,进而缩短滑模控制器到达滑动阶段的时间。利用了MATLAB对改进后的滑模控制器,进行了滑模面仿真、变道工况仿真以及超车工况仿真,并与未改进的滑模控制器进行了对比。结果表明：改进后的滑模控制器到达滑动阶段的时间减少了33.10%;在变道仿真工况中鲁棒性提高了7.44%;在超车仿真工况中鲁棒性提高了10.45%。因而,在自动驾驶汽车轨迹跟踪控制研究中,该控制器可以提升控制鲁棒性。

关键词: 自动驾驶汽车, 轨迹跟踪, 鲁棒性控制, 滑模控制

Abstract:

A robust controller was proposed with an improved sliding-mode-controller to improve the robustness of autonomous-vehicle trajectory-tracking under various disturbance factors. Designed a sliding-mode-surface instead of a constant sliding-mode- surface by adopting the time-varying error model to shorten the time for the sliding-mode- controller to reach the sliding phase. Simulated an optimized sliding-mode-controller for the driving condition with sliding-mode-surface, the lane change, and the overtaking by using a MATLAB software. The simulation results were compared with that by the unoptimized sliding-mode-controller. The results show that the time is reduced by 33.10% for the optimized sliding-mode-controller to reach the sliding phase; the robustness is increased by 7.44% in the lane change simulation conditions; and the robustness is increased by 10.45% in the overtaking simulation conditions. Therefore, the controller improves the control robustness in the trajectory-tracking control research.

Key words: autonomous vehicles, trajectory tracking, robust control, sliding mode control

中图分类号:

TP273

李磊, 李军, 张世义. 搭载改进滑模控制的自动驾驶汽车轨迹跟踪控制[J]. 汽车安全与节能学报, 2020, 11(4): 503-510.

LI Lei, LI Jun, ZHANG Shiyi. Trajectory tracking control of autonomous vehicles with optimized sliding mode control[J]. Journal of Automotive Safety and Energy, 2020, 11(4): 503-510.

图/表 10

图1 三自由度自行车运动学模型

图2 轨迹跟踪控制的误差模型

图3 改进后的滑模控制器

图4 λ（t）随时间变化图

图5 未改进的时间变化图

图6 改进后的时间变化图

图7 仿真框图

质量	1.75 t
惯性力矩	245 kN·m²
轴径	2.7 m
前轮轴径	1.43 m
后轮轴径	1.27 m
重心高度	0.5 m
前轮转角刚度	19 kN·m^-1
后轮转角刚度	33 kN·m^-1

表1 自动驾驶汽车的车辆参数

图8 变道工况仿真结果

图9 超车工况仿真结果

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搭载改进滑模控制的自动驾驶汽车轨迹跟踪控制

Trajectory tracking control of autonomous vehicles with optimized sliding mode control

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