基于主动转向与主动制动的智能车路径跟踪

An Autonomous Vehicle Path Tracking Controller Via Active Steeringand Differential Brake

提出一种基于模型预测控制的分层路径跟踪控制器进行主动转向和差动制动控制.由预测监控状态模块、上层控制器和下层执行器组成.预测监控状态模块利用车辆动力学模型预测车辆未来状态;上层控制器计算期望的前轮转角和轮胎制动力;底层执行器执行前轮转角和制动压力.通过Matlab与Carsim的联合仿真,结果显示,提出的控制器在高速紧急避障中的路径跟踪效果比预瞄驾驶员模型更好.

A hierarchical controller based on model predictive control(MPC)is proposed via front steering and differential brake control,which consists of a local reference trajectory calculator,aprediction supervisor,an upper controller,and a lower controller.First,the local reference trajectory calculator generates a reference trajectory based on the path planning module.Then,the prediction supervisor predicts vehicle future states utilizing the vehicle dynamics model.After that,the upper controller calculates the desired front wheel angles and brake forces.Finally,the lower controller actualizes the desired front wheel angles and brake forces.The designed controller is evaluated by co-simulation of Carsim and Matlab.The results show that the proposed controller performs much better than the optimal preview driver model in path tracking control for highspeed emergency obstacle avoidance.