Integrated control strategy for path tracking of human-machineco-driving vehicle

doi:10.3969/j.issn.1674-8484.2022.04.010

Abstract

Abstract:

Aiming at the problems of human-machine co-driving vehicle path tracking control accuracy and vehicle stability that were difficult to guarantee effectively, an integrated control framework was proposed, mainly including active front wheel steering system (AFS) variable ratio curve and path tracking controller based on model predictive control (MPC). In terms of stability control, the AFS variable ratio function considering road adhesion conditions and vehicle speed was constructed to ensure the safety and lateral stability during vehicle path tracking; in terms of path tracking control, the MPC-based path tracking controller was designed to track the target path. Finally, a joint simulation platform based on Carsim / Matlab was built and simulated for verification. The results show that the integrated control strategy can effectively improve the operational stability of the human-machine co-driving vehicle, significantly improve the tracking performance of the vehicle, and weaken the impact of driver driving state fluctuations on vehicle driving safety.

Key words: human-machine co-driving, yaw stability, path tracking, integrated control

CLC Number:

U461.1

ZHANG Xinrong, XU Quanning, GONG Xinle, LI Xueyun, HUANG Jin. Integrated control strategy for path tracking of human-machineco-driving vehicle[J]. Journal of Automotive Safety and Energy, 2022, 13(4): 686-696.

Figures/Tables 14

References 24

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参数	数值
车辆质量, m	1 723 kg
质心距前轴距离, l_f	1.23 m
质心距后轴距离, l_r	1.47 m
前轮侧偏刚度, C_cf	66.9 kN/rad
后轮侧偏刚度, C_cr	62.7 kN/rad
车辆绕z轴转动量, I_z	4 175 kg/m^-2
预瞄距离, x_cc	10 m

参数	数值
车辆质量, m	1 723 kg
质心距前轴距离, l_f	1.23 m
质心距后轴距离, l_r	1.47 m
前轮侧偏刚度, C_cf	66.9 kN/rad
后轮侧偏刚度, C_cr	62.7 kN/rad
车辆绕z轴转动量, I_z	4 175 kg/m^-2
预瞄距离, x_cc	10 m

控制器参数	数值
Q	[100 0; 0 100]
R	20
T_s	0.05
N_P	10
N_C	2

控制器参数	数值
Q	[100 0; 0 100]
R	20
T_s	0.05
N_P	10
N_C	2

指标	MPC控制器(VSR)	MPC控制器(FSR)	LQR控制器(VSR)
横向位置误差均方根 / mm	33.7	134.9	91.8
质心侧偏角均方根 / mrad	5.5	10.1	10.1
前轮转角均方根 / mrad	62.9	210.2	109.0