A Longitudinal Motion Control Method for Unmanned Truck Based on Acceleration Replanning

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI:10.1109/ICUS48101.2019.8996023

Hao Dong, Shaohang Xu, Da Li, Yuqi Guo, Junqiang Xi

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Abstract

For unmanned ground vehicles, the longitudinal motion control based on desired acceleration, provided by the upper planning module, has static errors. And the commonly used Proportion-Integration (PI) controller tracks the desired speed directly, prone to overshoot and oscillation. In order to overcome these problems, a method based on acceleration replanning is proposed in this paper, considering the dynamic, steady-state and real-time requirements. Simplified nonlinear longitudinal dynamics models are established. Then, 4 parts of the controller are designed based on the models: switching logic based on coast-down; acceleration replanning module by means of backstepping and feedback linearization; throttle adaptive controller and brake controller. Errors of velocity and acceleration can converge to zero quickly meanwhile without overshoot and oscillation, theoretically. Finally, the MATLAB/ Simulink TruckSim co-simulation shows that the designed controller performs better than the PI controller, with speed’s average error reducing by 52%. Besides, the designed controller controls the pedals more smoothly, for it makes full use of the powertrain.

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基于加速度重规划的无人驾驶卡车纵向运动控制方法

对于地面无人驾驶车辆，上层规划模块提供的基于期望加速度的纵向运动控制存在静态误差。而常用的比例积分(PI)控制器直接跟踪所需的速度，容易出现超调和振荡。为了克服这些问题，本文提出了一种基于加速度重规划的方法，同时考虑了动态、稳态和实时性的要求。建立了简化的非线性纵向动力学模型。然后，在此基础上设计了控制器的4个部分:基于降速的切换逻辑;基于反步和反馈线性化的加速度重规划模块;油门自适应控制器和刹车控制器。从理论上讲，速度和加速度误差可以快速收敛到零，同时没有超调和振荡。最后，MATLAB/ Simulink TruckSim联合仿真表明，所设计的控制器性能优于PI控制器，速度平均误差降低了52%。此外，设计的控制器使踏板控制更加平稳，充分利用了动力系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 IEEE International Conference on Unmanned Systems (ICUS)

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