Speed planning and control under complex road conditions based on vehicle executive capability

被引：0
|
作者：
Wang D.-J. [1 ,2 ]
Zhang K.-R. [1 ,2 ]
Xu P. [2 ]
Gu T.-B. [1 ,2 ]
Yu W.-Y. [1 ,2 ]
机构：
[1] State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun
[2] College of Communication Engineering, Jilin University, Changchun
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2023年 / 53卷 / 03期
关键词：
control theory and control engineering; F-F diagram; limit speed; model predictive control; trajectory tracking;
D O I：
10.13229/j.cnki.jdxbgxb20221427
中图分类号：
学科分类号：
摘要：
In order to solve the problem of speed planning in complex road environment（large curvature，low adhesion）meeting the constraints of safety and efficiency，a differential equation programming method based on vehicle dynamics was proposed. Firstly，the structural parameter expression of the limit velocity satisfying the lateral tire force constraint was derived in steady-state steering. Secondly，the spatial combination of the tire forces of the front wheel and the rear wheel is shown in the F-F diagram. And the implicit differential equation considering load transfer and driving mode factors was derived. The limit velocity along the path can be obtained by solving the differential equation. A method for calculating the limit speed based on discrete path information was given. Finally，a model prediction controller was designed and a co-simulation platform of CarSim and Simulink was built. The trajectory tracking simulation experiments were carried out with the planned limit speed on the continuous and discrete information paths. The results show that the proposed limit speed planning method can complete the trajectory tracking task as soon as possible in the complex road environment and control the- tire force within the range of stable friction circle. © 2023 Editorial Board of Jilin University. All rights reserved.
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页码：643 / 652
页数：9
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