Design of Intelligent and Connected Vehicle Path Tracking Controller Based on Model Predictive Control

被引：7

作者：

Wang Y. ^{[1
]}

Cai Y. ^{[2
]}

Chen L. ^{[2
]}

Wang H. ^{[1
]}

He Y. ^{[2
]}

Li J. ^{[1
]}

机构：

[1] Department of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang

[2] Jiangsu University Automotive Engineering Research Institute, Zhenjiang

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2019年 / 55卷 / 08期

关键词：

Intelligent and connected vehicle; Model predictive control; Path tracking; Variable parameters;

D O I：

10.3901/JME.2019.08.136

中图分类号：

学科分类号：

摘要：

In order to solve the problem of autonomous steering of intelligent vehicles and to improve the steering precision and stability during the high-speed movement, and considering the path tracking control, a path tracking control method of variable parameters under the background of intelligent and connected vehicle is proposed. A path tracking controller for intelligent vehicle based on the model predictive control principle is designed. Firstly, a 3-degree-of-freedom dynamic model is considered as the control system. Secondly, a quadratic form cost function of the system is determined after linearizing the system, and the form of the constraints are determined according to the cost function. Thirdly, the controller's parameters for typical operation conditions are obtained with the off-line simulation of the Carsim and Matlab/Simulink platforms. Finally, the intelligent and connected vehicle can complete the automatic steering by selecting the appropriate path tracking control parameters according to the road type where the vehicle is actually located and the actual speed of the vehicle. The simulation results show that the controller has a better control effect than the controller with fixed parameters. This controller can achieve higher tracking accuracy and driving stability when the vehicle is moving at high speed. © 2019 Journal of Mechanical Engineering.

引用

页码：136 / 144and153

共 22 条

[1]

Li Y., Liu Y., Current situation and suggestions on the development of intelligent and connected vehicles, Automobile & Parts, 41, pp. 56-59, (2016)

[2]

Energy Saving and New Energy Vehicle Technology Road Map, (2016)

[3]

Li K., Dai Y., Li S., Et al., State-of-the-art and technical trends of intelligent and connected vehicles, Journal of Automotive Safety and Energy, 8, 1, pp. 1-14, (2017)

[4]

Wu J., Liu Y., Wang F., Et al., VEHICLE ACTIVE STEERING CONTROL RESEARCH BASED ON TWO-DOF BOBUST INTERNAL MODEL CONTROL, CHINESE JOURNAL OF MECHANICAL ENGINEERING, 29, 4, pp. 739-746, (2016)

[5]

Mac Adam C.C., APPLICATION OF AN OPTIMAL PREVIEW CONTROL FOR SIMULATION OF CLOSED-LOOP AUTOMOBILE DRIVING, SYSTEMS, MAN AND CYBERNETICS, IEEE TRANSACTIONS, 11, 6, pp. 393-399, (1981)

[6]

Guo K.H., A STUDY OF METHOD FOR MODELING CLOSED-LOOP VEHICLE DIRECTIONAL CONTROL, (1982)

[7]

Coulter R.C., IMPLEMENTATION OF THE PURE PURSUIT PATH TRACKING ALGORITHM, (1992)

[8]

Marino R., Scalzi S., Netto M., Nested PID steering control for lane keeping in autonomous vehicles, Control Engineering Practice, 19, 12, pp. 1459-1467, (2011)

[9]

Levinson J., Askeland J., Becker J., Et al., TOWARDS FULLY AUTONOMOUS DRIVING: SYSTEMS AND ALGORITHMS, INTELLIGENT VEHICLES SYMPOSIUM (IV), 2011 IEEE. IEEE, pp. 163-168, (2011)

[10]

Kritayakirana K., Gerdes J.C., Using the centre of percussion to design a steering controller for an autonomous race car, Vehicle System Dynamics, 50, pp. 33-51, (2012)

← 1 2 3 →