Yuan Tengfei, Zhao Rongchen
School of Mechanical and Electrical Engineering, Guizhou Normal University, Guizhou 550025, China.
Sensors (Basel). 2022 Jul 25;22(15):5556. doi: 10.3390/s22155556.
This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure composed of upper and lower-level controllers. In the upper-level controller, the linear quadratic regulator (LQR) controller is designed to compute the desired front wheel steering angle for minimizing the lateral tracking deviation, and the model-predictive controller is developed to compute the desired acceleration for maintaining the planed vehicle speed. The lower-level controller enables the achievement of the desired steering angle and acceleration via the corresponding component devices. Furthermore, an observer based on the Extended Kalman Filter (EKF) is proposed to update the vehicle driving states, which are sensitive to the trajectory-tracking control and difficult to measure directly using the existing vehicle sensors. Finally, the Co-simulation (CarSim-MATLAB/Simulink) results demonstrate that the proposed coupling controller is able to robustly realize the trajectory tracking control and can effectively reduce the lateral tracking error.
本文提出了一种用于轨迹跟踪控制系统的横向和纵向耦合控制器。所提出的控制器能够在跟踪期望轨迹和车速的同时，使横向跟踪偏差最小化。首先，我们提出了一种由上下两级控制器组成的分层控制结构。在上层控制器中，线性二次调节器（LQR）控制器被设计用于计算期望的前轮转向角，以最小化横向跟踪偏差，并且开发了模型预测控制器来计算期望加速度，以维持规划的车速。下层控制器通过相应的部件装置实现期望的转向角和加速度。此外，提出了一种基于扩展卡尔曼滤波器（EKF）的观测器来更新车辆行驶状态，这些状态对轨迹跟踪控制很敏感，并且难以使用现有的车辆传感器直接测量。最后，联合仿真（CarSim-MATLAB/Simulink）结果表明，所提出的耦合控制器能够稳健地实现轨迹跟踪控制，并能有效减小横向跟踪误差。
