弯道车辆自适应巡航横纵向跟踪控制

Tracking control of lateral and longitudinal for adaptive cruise vehicles on curved roads

针对车辆在弯道工况下的跟踪控制问题,提出一种适用弯道工况的自适应巡航(ACC)控制系统。针对复杂的道路情况,将ACC系统划分为定速巡航、跟随、避撞3种模式;设计基于PID定速巡航模式,基于模型预测算法(MPC)的纵向速度跟踪控制器,设计考虑纵向车速的横向路径控制器,引入横向与纵向安全指数,实现车辆横向与纵向运动的跟踪控制;通过Matlab/Simulink和Carsim搭建仿真平台,设计4种仿真工况验证所设计跟踪控制器的有效性。仿真结果表明:所设计的横纵向跟踪控制器能跟踪期望的轨迹,具有较好的鲁棒性。

To address the problem of vehicle tracking control in curve conditions,this paper proposes an adaptive cruise control(ACC)system for curve conditions.First,according to the complex road conditions,ACC system is divided into three modes:cruise,follow and collision avoidance.Then,a fixed-speed cruise mode based on PID and a longitudinal speed tracking controller based on model prediction algorithm(MPC)are designed,and a lateral path controller considering the longitudinal speed is designed.Meanwhile,the longitudinal and lateral safety indexes are introduced to realize the tracking control of the transverse and longitudinal motion of the vehicle.Finally,the simulation platform is built by Matlab/Simulink and Carsim,and four simulation conditions are designed to verify the effectiveness of the designed tracking controller.Our simulation results show the designed horizontal and vertical tracking controller tracks the desired trajectory and achieves good robustness.