无人驾驶方程式赛车横向运动控制研究

Research on Lateral Motion Control of Driverless Racing Cars

针对无人驾驶方程式赛车在变速和复杂曲率赛道条件下难以保证横向运动控制精度与行驶稳定性的问题,提出基于纯追踪控制与模型预测控制的横向运动混合控制策略;以赛车纵向车速作为依据,设计控制模式切换逻辑,当赛车处于低速行驶工况时采用纯追踪控制,高速行驶时采用模型预测控制,并使用模糊控制算法设计切换控制器,实现2种算法的平滑切换;使用CarSim与MATLAB/Simulink联合仿真实验进行验证。结果表明,在变速与复杂曲率赛道条件下,所提出的控制策略能保证无人驾驶方程式赛车横向位置误差小于0.2 m,质心侧偏角小于0.15°,具有较好的跟踪精度与行驶稳定性。

Aiming at the problem that it was difficult to ensure accuracy of lateral motion control and driving stability of driverless racing cars under the condition of variable speed and complex curvature tracks,a hybrid lateral motion control strategy based on pure pursuit control and model predictive control was proposed.Based on longitudinal speed of a racing car,the control mode switching logic was designed.When the racing car was at low speed,pure pursuit control was used,and model predictive control was used at high speed.The switching controller was designed by using fuzzy control algorithm to achieve smooth switching between the two algorithms.CarSim and MATLAB/Simulink joint simulation experiment was used for verification.The results show that the proposed control strategy can ensure that the lateral position error of the driverless racing car is less than 0.2 m and the sideslip angle of mass center is less than 0.15°under the condition of variable speed and complex curvature tracks,and it has good tracking accuracy and driving stability.