无人驾驶车辆在复杂路况下的路径跟踪控制

Path Tracking Control for Unmanned Ground Vehicle in Complex Road Conditions

研究了无人驾驶车辆在复杂路况下的路径跟踪控制问题.相对于单一路况而言,路面坡度、侧倾度、路面摩擦系数都在变化的复杂路况更为实际,然而其带来的控制问题也更为复杂.针对可变路况,提出了适应范围较广的车辆建模方法,用一个侧向恒值干扰项来表示路面侧倾、侧风等的干扰.提出了路径跟踪性能指标,针对该指标设计了切换控制算法,用于处理侧向恒值干扰带来的影响.仿真结果表明:该控制算法能有效地抑制无人驾驶车辆在行驶过程中受到的各种侧向干扰,在实现对目标路径跟踪控制的同时提高了驾驶安全性.

Path tracking control problems of unmanned ground vehicle（UGV） in complex road conditions were studied. Compared with under the ideal road conditions, road slope, side inclination, surface friction coeffi- cient which keep changing are more practical and more difficult to be controlled under complex road condi- tions. For variable road conditions, a widely used modeling approach for a UGV was presented, which used a lateral constant disturbance to indicate road roll, crosswind, etc. A new path tracking performance index was introduced, and a switching control algorithm was designed to deal with the effect which caused by a lateral constant disturbance for the performance index. The simulation results show that the control algorithm can re- strain the lateral disturbance in the process of vehicle driving, and can improve the driving safety while achieving path tracking control.