基于模型预测控制的智能车辆横纵向综合控制研究
周红梅，胡广地，崔然滔，郑祥
（西南交通大学 机械工程学院，四川 成都 610031）
摘要：汽车数量的急剧增长使得道路安全问题日益严峻，如何提高车辆的自动化水平来改善交通问题成为了目前的研究热点。在智能车辆自动驾驶领域，车辆控制算法是整个智能车辆自动驾驶系统中最为基础关键的部分之一，决定了智能车辆行驶时的安全性和舒适性。为实现智能车辆控制，现有研究常根据智能车辆的横向运动和纵向运动将车辆控制简单分为横向控制和纵向控制，但车辆本身是一个高度耦合的复杂控制系统，简化解耦控制不符合实际车辆动力学特性。为提高车辆的横纵向综合控制能力，本文基于模型预测控制的理论原理，提出了一种适用于智能车辆路径和速度跟踪的横纵向控制算法。该控制算法以前轮转角和轮胎纵向力为控制量，以车辆与参考道路中心的纵向位置差、横向位置差、横摆角误差以及与参考车速的横向和纵向速度误差为零为控制目标，基于搭建的三自由度动力学模型，进行智能车辆横纵向控制器设计。随后，基于Carsim/Simulink联合仿真平台，搭建Simulink模型对所设计的控制器性能进行验证，仿真结果表明，本文提出的基于MPC的横纵向控制算法，在对双移线工况进行跟踪时，能很好的跟踪参考速度和参考路径，误差范围均在合理范围内，能实现较好的控制效果。综上，本文设计的控制算法能为智能车辆的横纵向综合控制系统设计提供参考。
关键词：智能车辆；车辆动力学；横纵向控制；模型预测控制
中图分类号：U461.6 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.06.003
文章编号：1006-0316 (2023) 06-0015-08
Longitudinal and Lateral Integrated Control of Intelligent Vehicle Based on Model Predictive Control
ZHOU Hongmei，HU Guangdi，CUI Rantao，ZHENG Xiang
( School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China )
Abstract：The rapid growth of the number of vehicles has made the road safety issues increasingly severe. Many studies are carried out to solve the traffic problems by improving the level of vehicle automation. In the field of intelligent vehicle automatic driving, vehicle control algorithm is one of the most basic and key parts of the auto drive system, which determines the safety and comfort of intelligent vehicles. Since the vehicle itself is a highly coupled complex control system, it is not in accord with the actual vehicle dynamics characteristics to just simplify vehicle control by dividing it into lateral control and longitudinal control. In order to improve the comprehensive control ability of vehicle, this paper presents a lateral and longitudinal control algorithm based on the theory of model predictive control. The control algorithm takes the front wheel angle and the tire longitudinal force as the control variables, and takes the longitudinal position difference, lateral position difference, yaw angle error between the vehicle and the reference road center, and zero lateral and longitudinal speed error compared to the reference vehicle speed as the control objectives. Based on the established three degree of freedom dynamics model, the intelligent vehicle lateral and longitudinal controller is designed. Subsequently, based on the CarSim / Simulink joint simulation platform, the model is built to verify the performance of the designed controller. The simulation results show that the longitudinal and lateral control algorithm based on MPC can track the reference speed and the reference path well when tracking the double line shifting working condition. It can achieve a good control effect, and the error is within a reasonable range. In conclusion, the control algorithm can provide a reference for the design of the longitudinal and lateral integrated control system of intelligent vehicles.
Key words：intelligent vehicle；vehicle dynamics；longitudinal and lateral control；model predictive control
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收稿日期：2022-08-03
基金项目：四川省重大科技专项——城市智慧物流专用车关键技术研究与应用示范（2019ZDZX0028）
作者简介：周红梅（1996－），女，江西赣州人，硕士，主要研究方向为智能车辆队列控制及运动控制，E-mail：2695888959@qq.com；胡广地（1964－），男，黑龙江佳木斯人，博士，教授、博士生导师，主要研究方向为智能车辆控制。
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