Predictive trajectory tracking control by a linear time-varying model for emergency collision avoidance of autonomous vehicles

doi:10.3969/j.issn.1674-8484.2025.06.013

Abstract

Abstract:

A trajectory tracking method was proposed to improve the stability and safety of autonomous vehicles during emergency collision avoidance. A three-freedom dual-track nonlinear vehicle dynamics model was established based on the dual-track vehicle dynamics model to build a linear time-varying trajectory tracking prediction model; The trajectory tracking control algorithm were converted into an online quadratic programming problem to solve for the optimal control input. Simulation tests and real-vehicle experiments were conducted. The results show that the lateral displacement error is less than 90 mm and yaw angle error is less than 50 mrad in the double lane change simulations at the vehicle speed of 50 km/h with the road adhesion coefficients range of 0.5~1.0. The maximum lateral error is 160 mm with the maximum yaw angle tracking error of 34 mrad in the lane change experiments at the vehicle speed of 60 km/h with a road adhesion coefficient of 0.38. Therefore, the trajectory tracking controller exhibits effectiveness and robustness, guaranteeing the vehicle’s stability and safety during lane changes.

Key words: autonomous driving, emergency collision avoidance, linear time-varying, model predictive control, trajectory tracking

CLC Number:

WU Hangzhe, JIAO Yizhou, LIU Yang, ZHONG Wei, WANG Shuihe, GUO Jinghua, ZHAO Jian. Predictive trajectory tracking control by a linear time-varying model for emergency collision avoidance of autonomous vehicles[J]. Journal of Automotive Safety and Energy, 2025, 16(6): 934-944.

Figures/Tables 10

References 24

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整车质量，m	1.890 t
簧上质量，m_s	1.723 t
质心高度，H	0.60 m
侧倾高度，h	0.54 m
轮距，W	1.625 m
前轴到质心距离，L_f，a	1.421 m
后轴到质心距离，L_r，b	1.479 m
悬架侧倾刚度，K_φ	25 kNm·rad^-1
悬架侧倾阻尼，C_φ	2.0 kNm·s·rad^-1
前轮轮胎侧偏刚度，K_α_f	66.9 kN·rad^-1
后轮轮胎侧偏刚度，K_α_r	62.7 kN·rad^-1
x轴转动惯量，I_x	1.243 t·m²
z轴转动惯量，I_z	4.175 t·m²

整车质量，m	1.890 t
簧上质量，m_s	1.723 t
质心高度，H	0.60 m
侧倾高度，h	0.54 m
轮距，W	1.625 m
前轴到质心距离，L_f，a	1.421 m
后轴到质心距离，L_r，b	1.479 m
悬架侧倾刚度，K_φ	25 kNm·rad^-1
悬架侧倾阻尼，C_φ	2.0 kNm·s·rad^-1
前轮轮胎侧偏刚度，K_α_f	66.9 kN·rad^-1
后轮轮胎侧偏刚度，K_α_r	62.7 kN·rad^-1
x轴转动惯量，I_x	1.243 t·m²
z轴转动惯量，I_z	4.175 t·m²

预测时域，N_P	10
控制时域，N_C	4
采样时间，T	5 ms
权重矩阵，Q	$\left[\begin{array}{cc} 500 & 0 \\ 0 & 50000 \end{array}\right]$
权重矩阵，R	6 000

预测时域，N_P	10
控制时域，N_C	4
采样时间，T	5 ms
权重矩阵，Q	$\left[\begin{array}{cc} 500 & 0 \\ 0 & 50000 \end{array}\right]$
权重矩阵，R	6 000

控制器	μ	Y_RMSE mm	φ_RMSE mrad	Y_{Error_max} mm	φ_{Error_max} mrad
A	1.00	23	18	73	46
	0.75	26	18	81	45
	0.50	25	17	88	47
B	1.00	60	21	169	53
	0.75	156	29	199	46
	0.50	174	30	296	65