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Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control 被引量:19

Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control
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摘要 The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle. The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.
出处 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2019年第1期212-227,共16页 中国机械工程学报(英文版)
基金 Supported by National Natural Science Foundation of China(Grant Nos.51575103,11672127,U1664258) Fundamental Research Funds for the Central Universities of China(Grant No.NT2018002) China Postdoctoral Science Foundation(Grant Nos.2017T100365,2016M601799) the Fundation of Graduate Innovation Center in NUAA(Grant No.k j20180207)
关键词 Autonomous vehicle TRAJECTORY tracking Direct yaw MOMENT control(DYC) Model predictive CONTROL (MPC) Longitudinal–lateral CONTROL Autonomous vehicle Trajectory tracking Direct yaw moment control(DYC) Model predictive control (MPC) Longitudinal–lateral control
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