基于鲁棒模型预测的智能汽车轨迹跟踪控制研究

doi:10.16182/j.issn1004731x.joss.20-0686

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (1): 153-162.doi: 10.16182/j.issn1004731x.joss.20-0686

• 仿真模型/系统置信度评估技术 • 上一篇下一篇

基于鲁棒模型预测的智能汽车轨迹跟踪控制研究

路宏广, 赵树恩^*

重庆交通大学机电与车辆工程学院,重庆 400074

收稿日期:2020-09-10 修回日期:2020-11-17 出版日期:2022-01-18 发布日期:2022-01-14
通讯作者: 赵树恩(1972-),男,博士,教授,研究方向为汽车自动驾驶技术。E-mail：zse0916@163.com
作者简介:路宏广(1997-)，男，硕士生，研究方向为智能车辆运动控制。E-mail：lhg870407107@163.com
基金资助:
国家自然科学基金(52072054); 重庆市自然科学基金(cstc2018jcyjAX0422); 重庆交通大学研究生科研创新项目(2020S0036)

Research on Intelligent Vehicle Trajectory Tracking Control Based on Robust Model Prediction

Lu Hongguang, Zhao Shuen^*

School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China

Received:2020-09-10 Revised:2020-11-17 Online:2022-01-18 Published:2022-01-14

摘要/Abstract

摘要： 针对传统的基于跟踪误差模型轨迹跟踪控制器在复杂行驶环境下控制精度不高,鲁棒性差等问题,设计一种鲁棒模型预测轨迹跟踪控制策略。采用车辆凸多胞体动力学模型显式描述车辆动态特性,结合轨迹跟踪多目标约束设计鲁棒性目标函数,通过线性矩阵不等式优化方式求解状态反馈控制律;引入前馈控制消除稳态误差,提高跟踪精度。结果表明：在不同行驶工况下,该控制器在保证车辆跟踪精度基础上可有效提高行驶稳定性,具有较强的鲁棒性。

关键词: 智能车辆, 轨迹跟踪控制, 多胞体模型, 横向稳定性, 鲁棒控制

Abstract: Aiming at the low control accuracy and poor robustness of traditional trajectory tracking controller based on the tracking error model in complex driving environment, a robust model predictive trajectory tracking control strategy is designed. The vehicle convex multicellular dynamic model is used to explicitly describe the vehicle dynamic characteristics, and the robust performance objective function is designed in combination with the trajectory tracking multi-objective constraint, and the state feedback control law is solved through the linear matrix inequality optimization. Feedforward control is introduced to eliminate the steady-state errors and improve the tracking accuracy. The simulation result shows that under the different driving conditions on the basis of ensuring the vehicle tracking accuracy, the controller can effectively improve the transmission stability and the robustness is stronger.

Key words: intelligent vehicle, trajectory tracking control, polytope model, lateral stability, robust control

中图分类号:

路宏广, 赵树恩. 基于鲁棒模型预测的智能汽车轨迹跟踪控制研究[J]. 系统仿真学报, 2022, 34(1): 153-162.

Lu Hongguang, Zhao Shuen. Research on Intelligent Vehicle Trajectory Tracking Control Based on Robust Model Prediction[J]. Journal of System Simulation, 2022, 34(1): 153-162.

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基于鲁棒模型预测的智能汽车轨迹跟踪控制研究

Research on Intelligent Vehicle Trajectory Tracking Control Based on Robust Model Prediction

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