采用转角补偿LQR的自动驾驶集卡路径跟踪控制

doi:10.3969/j.issn.1674-8484.2024.03.015

汽车安全与节能学报 ›› 2024, Vol. 15 ›› Issue (3): 413-423.DOI: 10.3969/j.issn.1674-8484.2024.03.015

采用转角补偿LQR的自动驾驶集卡路径跟踪控制

曹莉凌¹(), 刘威¹, 代堃鹏², 周国峰¹^,^*()

1.上海海洋大学工程学院，上海 201306，中国
2.上智联智能科技有限公司，上海 201403，中国

收稿日期:2024-01-10 修回日期:2024-02-15 出版日期:2024-06-30 发布日期:2024-07-01
通讯作者: *周国峰，讲师。E-mail：gfzhou@shou.edu.cn。
作者简介:曹莉凌（1982—），女（汉），湖南，高级工程师。E-mail：llcao@shou.edu.cn。
基金资助:
十三五“蓝色粮仓科技创新”国家重点研发计划项目(2019YFD0900805)

Path tracking control of autonomous container trucks using angular compensation LQR

CAO Liling¹(), LIU Wei¹, DAI Kunpeng², ZHOU Guofeng¹^,^*()

1. School of Engineering, Shanghai Ocean University, Shanghai 201306, China
2. SICV (Shanghai) Intelligent Technology Co., Ltd., Shanghai 201403, China

Received:2024-01-10 Revised:2024-02-15 Online:2024-06-30 Published:2024-07-01

摘要/Abstract

摘要：

为了解决自动驾驶集卡中半挂车在行驶过程中的路径偏移问题，提出了一种引入铰接角偏差和转角补偿的线性二次调节器（LQR）控制方法。基于集卡三自由度动力学模型建立了考虑铰接角偏差的路径跟踪误差模型；通过采用比例-积分-微分（PID）算法进行转角补偿设计了LQR路径跟踪控制器；通过MATLAB/Simulink和TruckSim搭建联合仿真平台，在不同工况下进行仿真分析验证。结果表明：通过采用提出的路径跟踪算法，引入PID转角补偿，牵引车平均距离偏差降低62%以上，半挂车平均距离偏差降低31%以上，航向偏差和铰接角偏差也均有所改善。因此，该文提出的控制算法具有较好的路径跟踪性能，提高了对期望路径跟踪的精度和稳定性。

关键词: 自动驾驶集卡, 路径跟踪, 路径偏移, 铰接角偏差, 线性二次调节器（LQR）, PID转角补偿

Abstract:

A linear quadratic regulator (LQR) control method with incorporating articulated angle deviation and steering angle compensation was proposed to address the issue of path deviation of semi-trailer in the process of driving of autonomous container trucks. Based on the three-degree-of-freedom dynamic model of the truck, a path tracking error model was established with considering articulated angle deviation. The linear quadratic regulator(LQR) path tracking controller was designed by compensating for the steering angle using the proportion-integral-derivative (PID) algorithm. A joint simulation platform was built using MATLAB/Simulink and TruckSim to perform simulation analysis under different condition. The results show that the average deviation in distance between the tractor and the desired path is reduced by more than 62%, and the average deviation in distance between the semi-trailer and the desired path is reduced by more than 31% by adopting the proposed path tracking algorithm and introducing PID steering compensation. The heading deviation and articulation angle deviation are also improved. Therefore, the proposed control algorithm demonstrates good path tracking performance, enhancing accuracy and stability in tracking the desired trajectory.

Key words: autonomous container trucks, path tracking, path deviation, articulated angle deviation, linear quadratic regulator (LQR), PID steering compensation

中图分类号:

TP273

曹莉凌, 刘威, 代堃鹏, 周国峰. 采用转角补偿LQR的自动驾驶集卡路径跟踪控制[J]. 汽车安全与节能学报, 2024, 15(3): 413-423.

CAO Liling, LIU Wei, DAI Kunpeng, ZHOU Guofeng. Path tracking control of autonomous container trucks using angular compensation LQR[J]. Journal of Automotive Safety and Energy, 2024, 15(3): 413-423.

图/表 10

参考文献 19

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牵引车质量，m₁	10.970 t
半挂车质量，m₂	7.570 t
牵引车前轴与质心距离，a₁	2.791 m
牵引车后轴与质心距离，b₁	1.344 m
牵引车质心与铰接点距离，c	1.209 m
半挂车质心与铰接点距离，a₂	3.400 m
半挂车质心与后轴距离， b₁	4.500 m
牵引车绕z轴转动惯量，I_z1	72.650 t / m²
半挂车绕z轴转动惯量，I_z2	194.1697 t / m²
牵引车前轴侧偏刚度，C_y_f	280.00 kN·m / rad
牵引车后轴侧偏刚度，C_y_r	609.127 kN·m / rad
半挂车后轴侧偏刚度，C_y_t	415.678 kN·m / rad

牵引车质量，m₁	10.970 t
半挂车质量，m₂	7.570 t
牵引车前轴与质心距离，a₁	2.791 m
牵引车后轴与质心距离，b₁	1.344 m
牵引车质心与铰接点距离，c	1.209 m
半挂车质心与铰接点距离，a₂	3.400 m
半挂车质心与后轴距离， b₁	4.500 m
牵引车绕z轴转动惯量，I_z1	72.650 t / m²
半挂车绕z轴转动惯量，I_z2	194.1697 t / m²
牵引车前轴侧偏刚度，C_y_f	280.00 kN·m / rad
牵引车后轴侧偏刚度，C_y_r	609.127 kN·m / rad
半挂车后轴侧偏刚度，C_y_t	415.678 kN·m / rad

偏差类型	v / (km·h^-1)	传统LQR	转角补偿LQR
牵引车平均距离偏差	25	0.043 m	0.014 m
牵引车平均距离偏差	50	0.047 m	0.018 m
半挂车平均距离偏差	25	0.079 m	0.055 m
半挂车平均距离偏差	50	0.037 m	0.018 m
平均航向偏差	25	0.011 rad	0.009 rad
平均航向偏差	50	0.132 rad	0.131 rad
平均铰接角偏差	25	0.026 rad	0.023 rad
平均铰接角偏差	50	0.029 rad	0.027 rad

偏差类型	v / (km·h^-1)	传统LQR	转角补偿LQR
牵引车平均距离偏差	25	0.043 m	0.014 m
牵引车平均距离偏差	50	0.047 m	0.018 m
半挂车平均距离偏差	25	0.079 m	0.055 m
半挂车平均距离偏差	50	0.037 m	0.018 m
平均航向偏差	25	0.011 rad	0.009 rad
平均航向偏差	50	0.132 rad	0.131 rad
平均铰接角偏差	25	0.026 rad	0.023 rad
平均铰接角偏差	50	0.029 rad	0.027 rad

偏差类型	v / (km·h^-1)	传统LQR	转角补偿LQR
牵引车平均距离偏差	20	0.25 m	0.04 m
牵引车平均距离偏差	30	0.31 m	0.06 m
半挂车平均距离偏差	20	0.53 m	0.32 m
半挂车平均距离偏差	30	0.51 m	0.27 m
平均航向偏差	20	0.152 rad	0.151 rad
平均航向偏差	30	0.132 rad	0.131 rad
平均铰接角偏差	20	0.137 rad	0.136 rad
平均铰接角偏差	30	0.134 rad	0.133 rad

采用转角补偿LQR的自动驾驶集卡路径跟踪控制

Path tracking control of autonomous container trucks using angular compensation LQR

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