摘要
针对城市道路多车道交通场景下智能车辆主动换道工况,单独使用某一种控制算法进行主动换道路径跟踪时,可能导致路径跟踪精度或车辆操纵稳定性变差的问题,本文提出一种横纵向解耦的换道轨迹跟踪控制策略.首先,将轨迹跟踪控制解耦为横向位置跟踪和纵向速度控制;然后,基于离散LQR原理设计前馈加反馈横向控制器,基于双PID原理设计位置与速度纵向控制器,最终实现对规划轨迹的跟踪控制;最后,利用Matlab/Simulink、PreScan和Car Sim平台建立联合仿真模型进行仿真实验.结果表明,横纵向解耦的轨迹跟踪控制算法在车辆不同换道工况下,对轨迹的跟踪效果良好,车辆的跟踪控制误差均在规定的约束范围内,且相比于模型预测控制(MPC)具有更小的质心侧偏角和横摆角速度,行驶稳定性与舒适性更佳.
In active lane-changing scenarios for intelligent vehicles on multi-lane urban roads,relying solely on a single control algorithm for path tracking can lead to issues such as reduced accuracy or compromised stability.Here,we propose a decoupled control strategy that separates lateral and longitudinal trackings.First,the trajectory tracking task is decoupled into lateral position tracking and longitudinal velocity control.Subsequently,a feedforward-feedback lateral controller is designed based on the discrete Linear Quadratic Regulator(LQR)principle,and a longitudinal controller for position and speed is developed using a dual Proportional-Integral-Derivative(PID)principle.This integrated approach enables accurate tracking control of the planned trajectory.Finally,a co-simulation platform integrating Matlab/Simulink,PreScan,and CarSim is established for validation.Results show that the proposed decoupled control algorithm effectively tracks the reference trajectory under various lane-changing conditions,with all tracking errors within specified constraints.Moreover,compared to the Model Predictive Control(MPC),it results in a smaller centroid sideslip angle and yaw rate,offering superior driving stability and comfort.
作者
李胜琴
苗瑞杰
张明瑞
LI Shengqin;MIAO Ruijie;ZHANG Mingrui(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China)
出处
《南京信息工程大学学报》
北大核心
2026年第1期101-111,共11页
Journal of Nanjing University of Information Science & Technology
基金
黑龙江省重点研发计划(JD22A014)
中央高校基本科研业务费专项资金(2572021BG01)。
关键词
横纵向解耦
轨迹跟踪控制
离散LQR
双PID控制
智能车辆
lateral-longitudinal decoupling
trajectory tracking control
discrete LQR
dual PID control
intelligent vehicle
