避让工况下的路径跟踪线性自抗扰控制

Design of a linear active disturbance rejection controller for collision free path planning

针对高速紧急避让工况,进行车辆路径跟踪鲁棒性研究。利用二自由度车辆模型,以控制车辆实际横摆角速度跟踪规划的理想横摆角速度为目标,设计线性自抗扰路径跟踪控制器。线性自抗扰控制器能够将车辆质量、整车转动惯量和轮胎侧偏刚度变化等模型参数变化观测出来并且补偿掉,保证系统鲁棒性。针对避让路径存在侧向加速度过大或产生阶跃、曲率不连续问题,引入Sigmoid函数对避让路径进行再规划。为了验证控制器的鲁棒性,利用Carsim提供的某款SUV进行实车仿真验证。仿真结果表明:线性自抗扰路径跟踪控制器能够控制车辆跟踪理想避让路径,保证车辆快速、无碰撞地避让前方障碍物。

Considering the high speed emergency avoidance situations,the robustness of vehicle path planning was studied in this paper. In order to control the actual vehicle＇s yawing angular velocity versus tracking the ideal yawing angular velocity,the linear active disturbance rejection path planning controller was designed using the two degrees of freedom vehicle model. The linear active disturbance rejection controllers（ LADRC） can estimate and compensate for the model parameter variation caused by the changes in moment of inertia of a vehicle,the whole vehicle mass and tire cornering stiffness,so as to guarantee the system robustness. The traditional evasive collision avoidance path suffers serious problems such as high lateral acceleration,phase step,and discontinuous curvature,so the Sigmoid function is used to replan the evasive path. In order to test the robustness of the controller,a real SUV was modeled using Carsim software. The simulation results show that the proposed path tracking controller can control the vehicle tracking the ideal collision avoidance path rapidly without collisions.