摘要
针对自动驾驶客车在主动避障过程中的路径规划与轨迹跟踪问题,本文提出一种基于纵横向解耦控制的优化算法。首先,建立车辆二自由度动力学模型,通过坐标变换将大地坐标系映射至Frenet坐标系,进而构建车辆路径跟踪误差模型。在此基础上,横向控制器基于线性二次型调节器(LQR)理论并结合前馈补偿进行设计;纵向控制器则采用改进的无模型自适应控制(MFAC)方法实现。此外,利用五次多项式进行平滑路径规划,生成满足运动边界条件的可行轨迹。实车试验结果表明,本文算法在路径跟踪精度、横向稳定性及速度控制平滑性方面均优于传统PID与模型预测控制(MPC)方法,且具有良好的实时性与鲁棒性。
To address the path planning and trajectory tracking problem for autonomous buses during active obstacle avoidance,this paper proposes an optimized algorithm based on decoupled longitudinal and lateral control.First,the algorithm establishes a two-degree-of-freedom vehicle dynamics model and transforms the global coordinate system into the Frenet coordinate system,thereby constructing a path tracking error model.On this basis,the lateral controller employs linear quadratic regulator(LQR)theory combined with feedforward compensation,while the longitudinal controller adopts an improved model-free adaptive control(MFAC)method.Furthermore,it utilizes a quintic polynomial for smooth path planning to generate feasible trajectories that satisfy motion boundary conditions.The real vehicle test results demonstrate that the proposed algorithm outperforms traditional PID and model predictive control(MPC)methods in path tracking accuracy,lateral stability,and speed control smoothness,while also exhibiting good real-time performance and robustness.
作者
吴德喜
朱岩朋
梁庆伟
张刚
明庆贺
WU Dexi;ZHU Yanpeng;LIANG Qingwei;ZHANG Gang;MING Qinghe(Zhongtong Bus Holding Co.,Ltd.,Liaocheng 252000,China)
出处
《客车技术与研究》
2026年第1期8-14,共7页
Bus & Coach Technology and Research
