基于动力学和预瞄理论的超车路径跟踪控制

Path tracking control for overtaking based on dynamics and preview theory

为提高辅助超车安全性,对超车换道的规划路径进行预瞄跟踪控制研究。基于汽车侧向动力学模型和预瞄理论,推导出转向角到预瞄误差的传递关系,得到路径跟踪控制器。在Simulink中建立跟踪控制器,在Carsim中建立车辆模型和规划路径,定义二者的传递参数,分别对五次多项式超车路径和Carsim自带双移线路径进行路径跟踪控制的仿真。仿真结果表明,在高速120 km/h限速内超车时,除极小半径弯道和大角度转向外,实际行驶路径对规划路径的跟踪误差不超过0.2 m,平均跟踪误差均小于0.09 m,并且平均预瞄距离大约在10 m时跟踪效果较好,证明了控制器对超车路径跟踪的有效性。

To improve safety of auxiliary overtaking,the paper proposes preview tracking control of planned path for overtaking and lane-changing.The transfer relation of the steering angle to the preview error is deduced based on the vehicle lateral dynamic model and preview theory,and the path tracking controller is obtained.The path tracking controller is established in Simulink.Vehicle model and planned paths are formulated in Carsim.Relation parameters are defined between Simulink and Carsim,then tracking control of overtaking paths such as the quintic polynomial path and double line path in Carsim are simulated respectively.The result of the simulation indicates that the tracking error of actual driving path to the planned path within expresway speed-limit of 120 km/h is less than 0.2 m and the average error is less than 0.09 m,except for minimal radius bend and large angle steering,and tracking with about 10 m of average preview distance is satisfactory,which shows the effectiveness of the controller for the tracking of overtaking path.