| 智能车辆轨迹跟踪控制器设计 |
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| 引用本文： | 柴瑞强,孙 涛,田敏杰.智能车辆轨迹跟踪控制器设计[J].教育技术导刊,2020,19(4):169-173. |
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| 作者姓名： | 柴瑞强 孙 涛 田敏杰 |
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| 作者单位： | 上海理工大学 机械工程学院，上海 200093 |
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| 摘 要： | 智能车辆在弯道下轨迹跟踪精确性与稳定性较差，尤其是在低附着路面上容易发生失稳及侧滑。建立车辆三由度动力学模型和准线性轮胎模型，通过模型预测控制算法得出理想的转向角作为车辆输入，通过道路曲率及道路附着系数获取期望车速，并使用PID算法跟踪车辆速度。最后利用MATLAB/Simulink与CarSim进行联合仿真验证。仿真结果表明，该控制器可在低附路面、变车速的工况下跟踪期望路径，且稳定性较好。
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| 关 键 词： | 轨迹跟踪 模型预测控制 无人驾驶车辆 联合仿真 |
| 收稿时间： | 2020-01-07 |
Design of Intelligent Vehicle Tracking Controller |
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| CHAI Rui-qiang,SUN Tao,TIAN Min-Jie.Design of Intelligent Vehicle Tracking Controller[J].Introduction of Educational Technology,2020,19(4):169-173. |
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| Authors: | CHAI Rui-qiang SUN Tao TIAN Min-Jie |
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| Institution: | School of Mechanical Engineering，University of Shanghai for Science and Technology，Shanghai 200093，China |
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| Abstract: | The accuracy and stability of lane tracking of intelligent vehicles under curved roads is poor， especially on low-adhesion roads， which are prone to instability and side slip. In this paper， a three-degree-of-freedom vehicle dynamic model and a quasi-linear tire model are established. The desired steering angle is obtained as the vehicle input through the model predictive control algorithm. The desired vehicle speed is obtained from the road curvature and road adhesion coefficient for tracking. Finally， MATLAB / Simulink and CarSim were used to carry out co-simulation verification. The simulation results show that the designed controller can track the expected path under the condition of variable speed on low-adhesion roads， and shows better stability. |
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| Keywords: | lane tracking model predictive control autonomous vehicle co-simulation |
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