复杂道路下自动驾驶车辆的横向运动鲁棒控制策略

doi:10.3969/j.issn.1674-8484.2020.04.004

汽车安全与节能学报 ›› 2020, Vol. 11 ›› Issue (4): 454-461.DOI: 10.3969/j.issn.1674-8484.2020.04.004

复杂道路下自动驾驶车辆的横向运动鲁棒控制策略

高秀晶¹^,²(), 陶林君¹, 黄红武¹^,², 刘显贵¹^,²

1.厦门理工学院机械与汽车工程学院,厦门 361024,中国
2.福建省客车及特种车辆研发协同创新中心,厦门,361024, 中国

收稿日期:2020-06-17 出版日期:2020-12-30 发布日期:2021-01-04
作者简介:高秀晶（1984—）,男(汉),福建,副教授。E-mail：gaoxiujing@xmut.edu.cn。
基金资助:
国家自然科学基金面上项目(51978592);福建省自然科学基金(2020J0273);福建省教育厅中青科研项目(JAT190664);厦门市科技计划项目重大项目(3502Z20191019);校攀登计划项目(XPDKQ19010)

Lateral motion robust control strategy of automated vehicle in complex road conditions

GAO Xiujing¹^,²(), TAO Linjun¹, HUANG Hongwu¹^,², LIU Xiangui¹^,²

1. Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen, 361024, Fujian, China
2. Fujian Collaborative Innovation Center for R&D of Coach and Special Vehicle, Xiamen, 361024, Fujian China

Received:2020-06-17 Online:2020-12-30 Published:2021-01-04

摘要/Abstract

摘要：

针对自动驾驶横向控制在路面曲率变化、路面超高和侧风干扰等复杂道路下存在精度低和稳定性差的问题,提出了一种基于曲率平滑优化算法和反步滑模的自动驾驶横向运动鲁棒控制策略。通过三次均匀B-样条曲线,设计曲率平滑优化算法并生成平滑目标路径;分析外界干扰影响机理,优化车辆动力学模型并建立误差模型;设计了基于反步滑模的自动驾驶横向控制器。通过TruckSim、MATLAB/Simulink联合仿真,对该方法进行验证和评价。结果表明：该方法在路面曲率变化、路面超高和侧风干扰的复杂道路下,应对不同速度均保持良好的控制性能,具有较好的路径跟踪精度和控制稳定性。

关键词: 自动驾驶, 横向控制, 路径平滑, 车辆动力学, 反步滑模控制

Abstract:

A new robust control strategy was designed based on curvature smoothing optimization and backstepping sliding mode to solve the problems of traditional lateral controllers having low accuracy and poor stability in complex road conditions, especially in the varying curvature, super-elevation and crosswind disturbance roads. A cubic uniform B-spline curve was used to design an optimal smoothing algorithm and generate a smooth target path. A vehicle lateral dynamic model was optimized. And error model was established via analyzing the influence mechanism of the external interference. A robust lateral controller of automatic driving path following was designed based on backstepping sliding mode. The accuracy of proposed controller strategy was validated by co-simulations with TruckSim and MATLAB/Simulink. The results show that the proposed method has a better control performance at different speeds with good tracking accuracy, stability and robustness in complex road conditions.

Key words: automatics driving, lateral control, path smoothing optimization, vehicle dynamics, backstepping sliding mode control

中图分类号:

U463.6

高秀晶, 陶林君, 黄红武, 刘显贵. 复杂道路下自动驾驶车辆的横向运动鲁棒控制策略[J]. 汽车安全与节能学报, 2020, 11(4): 454-461.

GAO Xiujing, TAO Linjun, HUANG Hongwu, LIU Xiangui. Lateral motion robust control strategy of automated vehicle in complex road conditions[J]. Journal of Automotive Safety and Energy, 2020, 11(4): 454-461.

图/表 10

图1 目标路径生成流程图

图2 生成目标路径的对比

图3 基于二自由度的车辆动力学模型

图4 路径跟踪误差模型

m	车辆质量	5.500 t
lf	前轴到质心的距离	2.252 m
lr	后轴到质心的距离	2.748 m
kf	前轮侧偏刚度	130.8 kN·rad^-1
kr	后轮侧偏刚度	242.4 kN·rad^-1
Iz	横摆转动惯量	28.6 t·m²
i	转向传动比	25
Ts	仿真步长	10 ms

表1 主要仿真参数

图5 目标路径位置、路面曲率

图6 3种方法的不同车速的最大横向误差

图7 路面曲率变化的转向响应

图8 路面超高干扰的不同车速下转向响应

图9 侧风干扰不同车速下的转向响应

参考文献 17

[1]	WANG Rongrong, HU Chuan, YAN Fengjun, et al. Composite nonlinear feedback control for path following of four-wheel independently actuated autonomous ground vehicle[J]. IEEE Trans Intell Transp Syst, 2016,17(7):2063-2074.
[2]	WU Ning, HUANG Weiwei, SONG Zhiwei, et al. Adaptive dynamic preview control for autonomous vehicle trajectory following with DDP based path planner[C]// IEEE Intell Vehi Symp, Seoul, South Korea, 2015: 1012-1017.
[3]	JI Xuewu, HE Xiangkun, LÜ Chen, et al. Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits[J]. Control Engi Practice, 2018,76:41-53.
[4]	Marino R, Scalzi S, Netto M. Nested PID steering control for lane keeping in autonomous vehicles[J]. Control Engi Practice, 2011,19(12):1459-1467.
[5]	蔡英凤, 李健, 孙晓强, 等. 智能汽车路径跟踪混合控制策略研究[J]. 中国机械工程, 2020,31(5):289-298.
	CAI Yingfeng LI Jian; SUN Xiaoqiang, et al. Research on hybrid control strategy for intelligent vehicle path tracking[J]. Chin Mech Engi, 2020,31(5):289-298.
[6]	Alcala E, Vicenç Puig, Quevedo J, et al. Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning[J]. Control Engi Practice, 2018,73:1-12.
[7]	JIANG Jingjing, Astolfi A. Lateral control of an autonomous vehicle[J]. IEEE Trans Intell Vehi, 2018,3(2):228-237.
[8]	CAO Haotian, SONG Xiaolin, ZHAO Song, et al. An optimal model-based trajectory following architecture synthesizing the lateral adaptive preview strategy and longitudinal velocity planning for highly automated vehicle[J]. Vehi Syst Dyna, 2017,55(8):1143-1188.
[9]	Tagne G, Talj R, Charara A. Design and comparison of robust nonlinear controllers for the lateral dynamics of intelligent vehicles[J]. IEEE Trans Intell Transp Syst, 2016, 17(3):796-809.
[10]	喻德生, 程程. 基于离散曲率的三次均匀B样条的局部光顺算法[J]. 浙江大学学报: 理学版, 2011,38(5):26-32.
	YU Desheng, CHENG Cheng. On local fairing algorithm for cubic B-spline with discrete curvature[J]. J Zhejiang Univ: Sci Ed, 2011,38(5):26-32. (in Chinese)
[11]	王远军, 曹沅. 非均匀三次参数样条曲线的能量最优光顺算法[J]. 计算机辅助设计与图形学学报, 2005(9):83-89.
	WANG YuanJun, CAO Yuan. Energy optimization fairing algorithm of non-uniform cubic parametric splines[J]. J CAD & Computer Graphics, 2005(9):83-89. (in Chinese)
[12]	Ackermann J. Robust car steering by yaw rate control[C/OL]// IEEE Conf Decision & Control,IEEE Xplore, 1990. [2020-08-06]. https://ieeexplore.ieee.org/document/203981.
[13]	Kanayama Y, Kimura Y, Miyazaki F, et al. A stable tracking control method for a non-holonomic mobile robot[C/OL]// IEEE Int’l Conf Robotics & Automation, IEEE Xplore, 1991. [2005-08-06]. https://ieeexplore.ieee.org/document/174669.
[14]	本书编委会. 公路工程技术标准与设计规范对照手册[S]. 北京: 人民交通出版社, 2014: 95-99.
	Editorial board of the book. Comparison handbook between technical standard of highway engineering and design Specifications[S]. Beijing: China Communications Press, 2014: 95-99. (in Chinese)
[15]	Ramazan C. Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application[J]. Int’l J Robust and Nonlinear Control, 2017, 27(18):4522-4540.
[16]	刘金琨. 滑模变结构控制MATLAB仿真[M]. 北京: 清华大学出版社, 2012: 181-182.
	LIU Jinkun. Sliding Mode Control Design and MATLAB Simulation [M]. Beijing: Tsinghua University Press, 2012: 181-182. (in Chinese)
[17]	李杰, 张喆, 张英朝. 侧风对直线行驶卡车操纵稳定性的影响[J]. 吉林大学学报: 工学版, 2009,39(A2):255-259.
	LI Jie, ZHANG Zhe, ZHANG Yingchao. Effects of crosswind on handling and stability of truck driving in a straight-line[J]. J Jilin Univ: Eng and Tech Ed, 2009,39(A2):255-259. (in Chinese)

复杂道路下自动驾驶车辆的横向运动鲁棒控制策略

Lateral motion robust control strategy of automated vehicle in complex road conditions

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

图/表 10

参考文献 17

相关文章 15

编辑推荐

Metrics

本文评价

期刊信息

在线期刊

作者中心

审稿中心

联系我们

[1]	冯敏健, 张辉, 巨志扬, 许庆. 基于 LGSVL/ Apollo 的网络延迟攻击下自动驾驶车辆定位估算[J]. 汽车安全与节能学报, 2021, 12(1): 62-69.
[2]	周扬, 谢辉, 肖蓬勃, 刘昊, 修国涛. 基于主动优化的无人驾驶客车实时性运动规划算法[J]. 汽车安全与节能学报, 2020, 11(4): 476-486.
[3]	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.
[4]	李克强, 李家文, 常雪阳, 高博麟, 许庆, 李升波. 智能网联汽车云控系统原理及其典型应用[J]. 汽车安全与节能学报, 2020, 11(3): 261-275.
[5]	李正磊, 褚端峰, 贺宜, 陆丽萍, 吴超仲. 考虑时滞的协作式自动驾驶车队的纵向控制方法[J]. 汽车安全与节能学报, 2020, 11(2): 182-188.
[6]	韩大双, 马志雄, 朱西产, 曾宇凡. 用于自动驾驶汽车的汽车—骑车人事故场景分析 [J]. 汽车安全与节能学报, 2020, 11(2): 220-226.
[7]	李国法，陈耀昱，吕辰, 陶达，曹东璞，成波 . 智能汽车决策中的驾驶行为语义解析关键技术[J]. JASE, 2019, 10(4): 391-412.
[8]	谢辉，高斌，熊硕，王悦. 结构化道路中动态车辆的轨迹预测[J]. JASE, 2019, 10(4): 413-422.
[9]	张晨阳，李曙光，李耀华，姚进,祝磊，王敏. 基于驾驶模拟器和 fNIRS 的与晕动病相关脑活动区的差异性[J]. JASE, 2019, 10(4): 433-442.
[10]	戴荣健，丁川，鹿应荣，赵福全. 自动驾驶环境下车辆轨迹及交通信号协同控制[J]. JASE, 2019, 10(4): 531-539.
[11]	李升波, 关阳，侯廉，高洪波，段京良，梁爽，汪玉，成波，李克强，任伟，李骏. 深度神经网络的关键技术及其在自动驾驶领域的应用[J]. JASE, 2019, 10(2): 119-145.
[12]	陈桢. 基于空间域压缩感知的车载雷达目标定位算法[J]. JASE, 2019, 10(2): 192-199.
[13]	高凯，余家旺，张金城. 低附着工况自动驾驶汽车纵横向耦合控制[J]. JASE, 2019, 10(1): 67-73.
[14]	白傑，郝培涵，陈思汉. 用轻量化卷积神经网络图像语义分割的交通场景理解[J]. JASE, 2018, 9(4): 433-440.
[15]	李学鋆. 基于UTMD 的汽车自动驾驶的路径规划寻优算法[J]. JASE, 2018, 9(4): 449-455.