基于虚拟弹簧阻尼的智能车辆路径预瞄跟踪控制

Design of Preview Path Tracking Control for Intelligent Vehicle Based on Virtual Mass-Spring-Damp Model

针对智能车辆的路径跟踪控制问题,基于虚拟质量-弹簧-阻尼(MSD)模型以及驾驶员预瞄理论,设计了一种路径跟踪控制方法。首先,利用脉冲响应法对虚拟MSD模型的运动响应进行求解,得到不同工况下车辆的状态响应,并获得前轮转向角的控制函数;随后,结合路径跟踪的稳定性和快速性要求,建立系统性能函数,得到虚拟MSD模型最优参数;最后,在典型的双移线工况及实际道路环境下对控制器进行了验证。结果表明,与线性二次型最优控制器相比,设计的预瞄式MSD控制器在不同车速下均具有良好的路径跟踪精度和行驶稳定性,且具有明显的实时性优势。

Based on the virtual Mass-Spring-Damper(MSD)model and driver preview theory,a preview steering control method is designed to solve the problem of path tracking for intelligent vehicles.Firstly,the virtual MSD model of vehicle motion response is solved by using impulse response method.The state response of vehicle under different conditions is obtained,and the control function of front wheel steering angle is further obtained.Then,in order to ensure the stability and rapidity of path tracking controller,the system performance function is established and the optimal parameters of virtual MSD model is obtained.Finally,the controller is verified by simulation under typical double lane change scenarios and the actual road environment.The results show that compared with LQR controller,the preview MSD controller has good tracking accuracy and driving stability at different speeds,and has significant real-time advantage.