Trajectory Tracking Coordinated Control for Autonomous Vehicle in High-speed Overtaking

被引：0
|
作者：
Zhang Z. [1 ]
Long K. [1 ]
Du R. [1 ]
Huang C. [2 ]
机构：
[1] College of Automobile and Mechanical Engineering, Changsha University of Science and Technology, Changsha
[2] Hunan Provincial Key Laboratory of Vehicle Power and Transmission System, Hunan Institute of Engineering, Xiangtan
来源：
Qiche Gongcheng/Automotive Engineering | 2021年 / 43卷 / 07期
关键词：
Autonomous vehicle; High-speed overtaking; Model predictive control; Path planning; Trajectory tracking;
D O I：
10.19562/j.chinasae.qcgc.2021.07.006
中图分类号：
学科分类号：
摘要：
In high-speed overtaking of autonomous vehicles, it is necessary not only to plan a reasonable path for vehicle safety, but also to ensure the lateral stability and ride comfort of the vehicle in high-speed turning on curve. Firstly, the longitudinal speed and the lateral overtaking path are planned respectively for the three phases of overtaking, i.e. lane change, uniform speed and lane change. Then a calculation method of desired yaw rate with consideration of path curvature, lane change time, and longitudinal speed is put forward. Finally, with minimizing lateral position error, yaw rate tracking deviation and control increment as optimization objectives, and by using the correlation function of extension set to dynamically assign the weighting factors of trajectory tracking accuracy and lateral stability, an extension set-based multi-objective model predictive coordinated control strategy for autonomous vehicle trajectory tracking is established. Numerical simulation results show that the path planning method proposed can ensure the safe overtaking of vehicle, while the trajectory tracking control strategy set up can accurately track the planned path, with better lateral stability and ride comfort. © 2021, Society of Automotive Engineers of China. All right reserved.
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页码：995 / 1004
页数：9
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