智能車(chē)輛自適應(yīng)軌跡跟蹤控制方法研究

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Research on adaptive trajectory tracking control method for intelligentvehicle

ZHANG Shuo1，LIXiao1，CHENYisong*1，ZHAO Xuan1，YU Qiang1，YUMan2

（1.SchoolofAutomobile，Chang'anUniversity，Xi'an7oo64，China； 2.SchoolofConstructionMachinery，Chang'anUniversity，Xi'an7loo64，China）

Abstract：Aimingat the problem ofpoor trajectory tracking accuracyand handling stabityof inteligent vehicles under variable speedand variableroadadhesioncoeficientconditions，anadaptive trajectorytracking control method based on model predictive control （MPC）was designed.Based on the lateralforce sliding modeobserver andtheinverse model of magic tire，the tireequivalent cornering stifness estimationmethod was designed to corecthe dynamic model parametersin real time.Adynamic predictive time-domaincontrol strategy that took intoaccount the road adhesion coeficient and driving speed was developed，andanadaptive MPC trajectory tracking controler wasestablished.The effctiveness of theadaptive model predictive control method was verified by Simulink-CarSim joint simulation underthe conditions of double lanechange with variable speedand roadadhesion coefficient compared with the traditional MPC control method.The results show that compared withthe traditional MPCcontrolmethod，thecontrol stabilityof theproposed method isimprovedathighspeed and variable speed on the highadhesion coefficient road，and the average yaw speed is improved by 19.82% ataslightsacrificeof trackingaccuracy.Theaverage lateral ofset and yawvelocityare reduced by 84.90% and 46.23% respectively when driving at mediumand low speed on the road surface with variable adhesion coefficient，which caneffectively improve the trajectory tracking controlaccuracyand handling stability.

Keywords：trajectorytracking； model predictivecontrol （MPC）；tire cornering stifnesses estimation；variable prediction time domain

軌跡跟蹤技術(shù)在保證智能汽車(chē)行駛安全性與乘客乘坐舒適性的前提下，能夠準(zhǔn)確地跟蹤期望軌跡[1]。（剩余13143字）