Trajectory tracking control of driverless vehicle under high speed steering condition
ZHANG Zeqi, YANG Weidong, JIA Pengfei, ZHANG Yunlong
1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China;
2. National Engineering Center for Technological Innovation Method and Tool, Tianjin 300401, China;
3. CATARC (Tianjin) Automotive Engineering Research Institute Co., Ltd., Tianjin 300300, China;
4. National Innovation Center of Intelligent and Connected Vehicles, Beijing 102600, China
Abstract: In order to improve the stability of the trajectory tracking control of driverless vehicles in high-speed working conditions, a vehicle trajectory tracking controller combining fuzzy control and model predictive control is designed. Aiming at the problem that the vehicle trajectory is prone to drift and vehicle instability in the road environment with large curvature or low adhesion coefficient, the fuzzy controller is applied to predict the time domain $ {N}_{\mathrm{P}} $ and control time domain $ {N}_{\mathrm{C}} $ to adjust, and at the same time to compensate and correct the front wheel angle. By setting up the mil joint simulation platform, the control effect of the controller in vehicle trajectory tracking under high-speed conditions is verified. The results show that, compared with the traditional MPC controller, the controller effectively avoids the problems of response lag and trajectory offset in high-speed driving, and improves the accuracy and stability of unmanned trajectory tracking control.
Keywords: driverless vehicle;model predictive control;trajectory tracking;fuzzy control
2023, 49(9):148-155  收稿日期: 2022-5-16;收到修改稿日期: 2022-7-17
基金项目: 中汽中心指南类项目（20213402）
作者简介: 张泽琪（1996-），男，河北沧州市人，硕士研究生，专业方向为智能驾驶技术。
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