考虑误差校正的智能车辆路径跟踪鲁棒预测控制

张亮修 1; 2; 张铁柱 1; 吴光强 2

doi:10.7652/xjtuxb202003003

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考虑误差校正的智能车辆路径跟踪鲁棒预测控制

更新时间：2025-07-09

- 考虑误差校正的智能车辆路径跟踪鲁棒预测控制
- Robust Predictive Control for Intelligent Vehicle Path Tracking Considering Error Feedback Correction
- 西安交通大学学报 2020年54卷第3期页码：20-27
- 作者机构：
  
  1. 山东理工大学交通与车辆工程学院,山东,淄博,255049
  2. 同济大学汽车学院,上海,201804
- 作者简介：
- 基金信息：
  
  : 2019-10-12。作者简介: 张亮修(1982—),男,讲师,硕士生导师。基金项目: 国家重点研发计划资助项目(2016YFB0100905);国家自然科学基金资助项目(51875327);山东理工大学博士后流动站资助项目(4041/518019)
- DOI：10.7652/xjtuxb202003003
  中图分类号： U242.6
- 网络首发：2020-03-10，
  
  纸质出版：2020
- 稿件说明：
移动端阅览
张亮修 1, 2, 张铁柱 1, 等. 考虑误差校正的智能车辆路径跟踪鲁棒预测控制[J]. 西安交通大学学报, 2020,54(3):20-27.

Robust Predictive Control for Intelligent Vehicle Path Tracking Considering Error Feedback Correction[J]. 2020, 54(3): 20-27.
张亮修 1, 2, 张铁柱 1, 等. 考虑误差校正的智能车辆路径跟踪鲁棒预测控制[J]. 西安交通大学学报, 2020,54(3):20-27. DOI： 10.7652/xjtuxb202003003.

Robust Predictive Control for Intelligent Vehicle Path Tracking Considering Error Feedback Correction[J]. 2020, 54(3): 20-27. DOI： 10.7652/xjtuxb202003003.

摘要

为进一步增强高速智能车辆路径跟踪预测控制的鲁棒性和实时性

研究了一种考虑误差反馈校正机制的路径跟踪预测控制方法。考虑车辆纵向、侧向和横摆运动建立三自由度弱非线性车辆模型

以泰勒公式展开实现控制模型的线性时变一阶近似

引入预测状态变量构建路径跟踪预测优化问题。针对车辆参数偏差、系统时变和外界干扰等不确定性因素导致的建模失配

定义系统实际状态值与预测值之间的误差

得到带有反馈校正项的预测输出模型

通过误差反馈校正机制增强路径跟踪控制系统的鲁棒性。将路径跟踪预测优化问题推导转化为带约束的二次规划问题

并通过数值解法实现路径跟踪鲁棒预测控制律的滚动优化求解。结果表明:误差反馈校正机制可以有效改善路径跟踪预测控制算法因整车质量和横摆转动惯量变化导致的低鲁棒性问题

能够实现智能车辆高速行驶工况下的路径跟踪功能

且具备良好的实时性。

Abstract

To further enhance the robustness and real-time performance of path tracking predictive control for high-speed autonomous vehicle

a predictive control method for path tracking considering error feedback correction mechanism is proposed. A three-degree-of-freedom vehicle model with weak nonlinearity is established considering the longitudinal

lateral and yaw motions of the vehicle. The linear time-varying first-order approximation of the control model is reali-ed by Taylor formula expansion. The predictive state variable is introduced to construct a path tracking optimi-ation scheme. Aiming at the problems of mismatch caused by uncertainties such as vehicle parameter deviation

system time-varying and external disturbance

the error between the actual state value and the predicted one is defined

and the prediction output model with feedback correction term is obtained. The robustness of the prediction model of the path tracking control system is enhanced by the error feedback correct

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Keywords

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