智能车辆路径跟踪横向控制方法的研究

摘要

A lateral control system for the path tracking of intelligent vehicles is proposed. The control system consists of a desired heading error generator based on vehicle-road kinematic relation and a feedback control system using robust PID controller based on vehicle-road dynamics model. Based on the analysis on system characteristics, a robust fixed gain PID controller and prefilter with optimum ITAE performance indicator are designed for a base speed. And after the analysis on the effects of longitudinal speed on feedback system, the-applicable speed range for the parameters of fixed gain PID is given. The effects of PID parameters on closed-loop feedback system are analyzed and the PID parameters for other speed range are adjusted. The results of validation test on real vehicle show that the lateral control system proposed has good performance in path tracking.%提出了一种智能车辆的路径跟踪横向控制系统.系统由期望航向偏差生成器和反馈控制系统两部分组成.期望航向偏差根据车辆-道路之间运动学关系来确定;而反馈控制系统则采用基于车辆-道路动力学模型的鲁棒PID控制器.在分析系统特性的基础上设计以某一速度为基准的、ITAE性能指标最优的固定增益鲁棒PID控制器和前置滤波器.在分析纵向速度对反馈系统影响的前提下,给出固定增益PID参数所适用的车速范围;分析了PID参数对闭环反馈系统的影响,调整了其他车速区间的PID参数.实车试验验证的结果表明,所提出的路径跟踪横向控制系统具有良好的路径跟踪能力.