考虑路面影响的智能车辆路径跟踪控制研究

Research on intelligent vehicle path following control considering the impact of road surface

为了提高智能车辆在路径跟踪过程中的行驶稳定性,基于模型预测控制算法设计了智能车辆路径跟踪控制器。将线性化、离散化后的车辆三自由度动力学模型作为预测模型,根据路面附着系数的不同,将变化的横摆角速度和质心侧偏角动态边界作为约束并实时调整来保证车辆在路径跟踪过程中的稳定性。在Carsim和Matlab/Simulink联合仿真平台上设计仿真实验并进行验证,仿真结果表明,所设计的控制器在不同的路面上不仅能准确地跟踪期望路径,而且跟踪过程中的稳定性也得到了提高。

In order to improve the stability of intelligent vehicles in the process of path tracking,the intelligent vehicle path tracking controller based on the model predictive control algorithm is proposed.The linearized and discretized three-degree-of-freedom dynamic vehicle model is used as the predictive model.According to the difference of road adhesion coefficient,the dynamic boundaries of yaw rate and sideslip angle are designed as the controller constraints to ensure the stability of the vehicle during the path tracking process.A simulation experiment was designed and verified on the Carsim and Matlab/Simulink joint simulation platform.The simulation results show that the designed controller can not only accurately track the reference path on different roads,but also the stability of the tracking process is also improved.