Design method of vehicle longitudinal and lateral coupling trajectory tracking controller
A trajectory tracking and design method technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of deteriorating controller robustness and precision, and achieve simple structure, good robustness, and improved The effect of accuracy and system robustness
Active Publication Date: 2021-09-07
JILIN UNIV
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Problems solved by technology
This nonlinear coupled dynamic characteristic relationship will deteriorate the robustness and accuracy of the controller
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[0309] We built a co-simulation platform based on MATLAB / Simulink and vehicle dynamics software CarSim to test the trajectory tracking controller designed in this application. The target vehicle is on the road with a road adhesion coefficient of 0.5, and the double-lane-shifting test is performed at a transformed longitudinal movement speed. The target vehicle speed is between 45km / h and 85km / h, constantly changing in a sinusoidal manner. Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 They are longitudinal speed control performance curve, longitudinal speed error control performance curve, trajectory tracking coordinate axis control performance curve, trajectory tracking lateral error control performance curve, yaw angle control performance curve, yaw angle error control performance curve, front wheel angle Control performance curve, yaw rate control performance curve. It can be seen from the experimental curves that th...
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The invention relates to a design method of a vehicle longitudinal and lateral coupling trajectory tracking controller. The design method comprises the following steps: 1, establishing a trajectory tracking model according to kinematics and dynamics relationships between a vehicle and an expected trajectory; 2, designing a vehicle longitudinal and lateral coupling trajectory tracking controller, and obtaining a complete system control law; wherein the trajectory tracking controller is composed of three parts of quasi steady state control, reference dynamic feed-forward control and state-dependent error feedback control; 3, compensating system uncertainty disturbance caused by vehicle motion state change in combination with an adaptive law; and 4, realizing trajectory tracking control of the whole vehicle through a bottom layer control distribution strategy. The method reliably ensures that the automatic driving vehicle can overcome disturbance caused by the problems of longitudinal and lateral nonlinear coupling dynamic characteristics, parameter uncertainty and the like of the system, and stably and accurately controls the automatic driving vehicle to track the target movement track and the expected longitudinal movement speed so as to complete the driving task.
Description
technical field [0001] The invention belongs to the technical field of automobiles, in particular to a design method for a vehicle longitudinal and lateral coupling trajectory tracking controller. Background technique [0002] Thanks to breakthroughs in key technologies such as perception, computer hardware, and software, automotive autonomous driving technology has received great attention and development in recent years. It is considered to be an effective solution that can effectively improve vehicle driving safety and reduce fuel consumption. Among many related researches, trajectory tracking control is one of the most important core issues to realize automatic driving of vehicles. The basic task of trajectory tracking is to ensure that the vehicle automatically and accurately tracks the desired trajectory at a set speed safely and stably. [0003] However, there are many difficulties in the process of vehicle trajectory tracking. First, the design of vehicle controlle...
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Login to View More IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵健陈志成朱冰
Owner JILIN UNIV