自动驾驶车辆的车道保持冗余联合控制

Redundant combined control for autonomous vehicle lane keeping

针对自动驾驶车辆的行驶安全,提出一种车道保持的冗余联合控制方法.首先,利用二自由度模型建立横向误差微分方程,设计一种带有前馈控制的线性二次型最优控制(linear quadratic regulator,LQR)方法用于横向运动控制.其次,设计了基于比例积分微分算法的冗余控制方法,该方法使用横向偏移量和前轮转角变化率作为输入,避免单一控制方法故障导致的车道偏离现象.最后,在封闭园区道路环境中采用CarSim与MATLAB软件进行仿真试验.结果表明,一旦车辆的横向控制方法发生故障,冗余控制方法能够在车辆偏离当前车道前及时控制前轮转角,使车辆保持在车道内,提高了自动驾驶车辆横向运动控制的鲁棒性和安全性.

Aiming at the safety of autonomous vehicle,a lane keeping redundancy combined control method is proposed.Firstly,lateral error differential equation is established by using 2-DOF model,a linear quadratic regulator lateral motion control method with feedforward control is designed.Secondly,a redundant control method is designed based on proportional integral differential algorithm,which takes lane departure quantity and front wheel angle rate as input,to prevent lane departure phenomenon caused by single control method breakdown.Finally,simulation experiment based on CarSim and MATLAB is carried out in closed campus road environment.The simulation results show that once lateral control method breaks down,redundant control method can control front wheel angle in real time before vehicle deviates from the current lane,so that vehicle stays in the lane,which improves robustness and safety of lateral motion control of autonomous vehicle.