光滑路面自动驾驶的路径跟踪方法

Enrico Regolin, Massimo Zambelli, M. Vanzulli, A. Ferrara
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引用次数: 1

摘要

本文提出了一种基于线性模型预测控制(MPC)的给定轨迹路径跟踪控制器,该控制器为车辆的动态状态生成合适的参考。路径跟踪的目标是在湿滑条件下获得良好的性能。将描述路径演化的方程线性化以获得合适的模型,并基于表征稳态转弯的可达平衡状态的先验知识对生成的参考状态施加线性约束。先前提出的低级LQR-ISM(积分滑模)控制器被用于参考跟踪,其中需要ISM组件以增强相对于线性化模型引入的几个近似的鲁棒性。采用高保真汽车动力学仿真软件ipg - maker进行验证。在具有不同曲率段的湿沥青赛道上验证了性能,并与汽车制造商驾驶员进行了比较。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Path Tracking Approach for Autonomous Driving on Slippery Surfaces
In this paper a linear Model Predictive Control (MPC) based controller for the path tracking of a given trajectory is proposed, which generates suitable references for the dynamical vehicle states. The goal of the path tracking is to achieve good performance on slippery conditions. The equations describing the evolution of the path are linearized in order to obtain a suitable model, and linear constraints on the produced reference states are applied based on the prior knowledge of the reachable equilibrium states which characterize steady-state cornering. A previously proposed low-level LQR-ISM (Integral Sliding Mode) controller is exploited for reference tracking, where the ISM component is required in order to enhance the robustness with respect to the several approximations introduced by the linearized models. IPG-CarMaker, a high-fidelity vehicle dynamics simulation software, is used for the validation. The performance is verified on a wet asphalt track characterized by segments of different curvature, and compared against the CarMaker driver.
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