CN108622104A - A kind of Trajectory Tracking Control method for automatic driving vehicle - Google Patents

A kind of Trajectory Tracking Control method for automatic driving vehicle Download PDF

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Publication number
CN108622104A
CN108622104A CN201810426894.9A CN201810426894A CN108622104A CN 108622104 A CN108622104 A CN 108622104A CN 201810426894 A CN201810426894 A CN 201810426894A CN 108622104 A CN108622104 A CN 108622104A
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lateral deviation
wheel
power
vehicle
cop
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周海鹰
陶冰冰
周奎
龚家元
王思山
毕栋
兰建平
彭强
朱政泽
张友兵
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Hubei University of Automotive Technology
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Hubei University of Automotive Technology
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Priority to CN201810426894.9A priority Critical patent/CN108622104A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a kind of Trajectory Tracking Control methods for automatic driving vehicle, include the following steps：The current location point of vehicle body is determined according to reference locus；The match point nearest apart from current vehicle position point is searched out, asks curvature method to obtain the road curvature at nearest match point according to 2 points；Track following deviation, including lateral deviation and head error in pointing is calculated according to current vehicle position point and nearest match point；The kinetic model for feeding back lateral deviation power based on front-wheel is established, optimum feedback control rate is obtained using LQR control algolithms；It determines front-wheel lateral deviation power, front-wheel side drift angle is obtained based on inverse tire model, and then obtain the control of steering wheel angle displacement amount, be issued in wire-controlled steering system and realize Trajectory Tracking Control.The method increase the stability of automatic driving vehicle Trajectory Tracking Control, and improve tracking accuracy, constrain slip angle of tire, avoid vehicle tire force under limiting condition and are saturated and the possibility of vehicle unstability occur.

Description

A kind of Trajectory Tracking Control method for automatic driving vehicle
Technical field
The invention belongs to Advanced Automotive Automatic Control fields, and in particular to a kind of track following for automatic driving vehicle Control method.
Background technology
Automatic driving vehicle is the organic component of the following intelligent transportation system, and vehicle automatic steering system is at nobody It drives in vehicle control and plays a very important role.Trajectory Tracking Control be basic control problem during auto-steering it One, it requires automatic driving vehicle to reach given or planning tracing point at the appointed time.Since vehicle is one strong non- Linearly, the complication system being highly coupled, it is difficult to accurate vehicle dynamics system model is established, therefore the rail of automatic driving vehicle Mark tracing control is a difficult point always.
Vehicle fortune is often ignored or is simplified in the current research about automatic driving vehicle track following problem in the world It is dynamic to learn constraint and Dynamic Constraints, and this kind of constraint not only significantly affects track model- following control error, but also to true The stability for protecting vehicle also has great importance.Such as on low attachment road surface, if do not constrained slip angle of tire, So vehicle is likely to just to will appear side wheels tire power saturation and just will appear vehicle unstability at this time if there is extraneous interference Situation influences the safety of vehicle.
Invention content
For the above-mentioned problems in the prior art, the present invention provides a kind of track for automatic driving vehicle with Track control method, the method increase the stability of automatic driving vehicle Trajectory Tracking Control, and improve tracking accuracy, Slip angle of tire is constrained, vehicle tire force under limiting condition is avoided and is saturated and the possibility of vehicle unstability occur.
For this purpose, present invention employs following technical schemes：
A kind of Trajectory Tracking Control method for automatic driving vehicle includes the following steps：
Step 1 is used as according to one high-precision cartographic information of GPS/INS system acquisitions and refers to track, when vehicle is at this When tracking moves on reference locus the current location point of vehicle body is determined according to vehicle sensors；
Step 2, vehicle are searched out according to the reference locus acquired in step 1 apart from vehicle during tracking moves The nearest match point of current location point, the forward face point of the nearest match point certain distance of selected distance seek curvature method according to 2 points Obtain the road curvature at nearest match point；
Step 3 is calculated by the current vehicle position point determined in step 1 with the nearest match point determined in step 2 To track following deviation, including lateral deviation and head error in pointing；Vehicle centre of percussion COP is found, is calculated at the centre of percussion Track following deviation；It is calculated at COP laterally according to vehicle dynamic model and tracking state variable and road curvature The relationship of deviation acceleration and tire cornering power and road curvature, and take zero front-wheel feedforward is calculated lateral deviation acceleration Lateral deviation power, the influence for eliminating lateral deviation acceleration and road curvature improve the roll stability of vehicle；
Step 4 is established the kinetic model for being fed back lateral deviation power based on front-wheel, Optimal Feedback is obtained using LQR control algolithms Control rate, and the tracking state variable for combining step 3 to obtain builds the linear feedback controller of total state, it is thus obtained anti- Feedback controlled quentity controlled variable is front-wheel feedback lateral deviation power, is missed for eliminating tracking caused by external environment interference and model inaccuracy Difference；
Step 5, the front-wheel feedback lateral deviation power that the front-wheel feedforward lateral deviation power and step 4 obtained according to step 3 obtains determine Go out front-wheel lateral deviation power, then front-wheel side drift angle is obtained based on inverse tire model, is finally inputted to obtain track following according to front wheel angle The control of steering wheel angle displacement amount of control, is issued in wire-controlled steering system and realizes Trajectory Tracking Control.
Further, in step 22 points ask curvature method calculate road curvature be as follows：
The forward face point of nearest match point and the nearest match point certain distance of selected distance on reference locus is extracted, is found out The difference of this 2 points of lateral coordinates and longitudinal coordinate solves the curvature at the nearest match point according to geometry relationship.
Further, centre of percussion COP described in step 3 refers to：When rigid body does Fixed-point Motion of A under external force, outside Force effect reaches dynamic balancing in rigid body specific position, at this time rigid body, rotating fulcrum at this moment, even if cancelling constraint, rigid body is still It is rotated around the point, such external force special role position is exactly the centre of percussion COP of rigid body；Automobile is regarded as a rigid body, vapour Vehicle can be acted on during exercise by front and back wheel lateral deviation power, and all and trailing wheel active force can be eliminated with centre of percussion COP modelings Relevant influence factor, the design of simplify control device structure；Vehicle centre of percussion COP needs to meet in step 3：X in formulalaIt is automobile barycenter along vehicle body longitudinal axis forward face point distance, xcopAutomobile barycenter to COP points away from From IzzIt is rotary inertia；Due to Izz≈ mab, then just there is xcop≈ a, m is the quality of vehicle here, and a and b are respectively front axle Away from rear axle away from.
Further, the track following deviation at COP described in step 3 and the calculating step of lateral deviation acceleration It is as follows：
Assuming that only small deflection angle and ignoring longitudinal force, track following deviation calculates as follows：
Δ ψ=ψ-ψr
ecop=e+xp sinΔψ
Wherein：ψ is that vehicle head is directed toward, ψrIt is that road is directed toward, Δ ψ is an error in pointing, xpIt is front shaft away from e is that barycenter arrives The lateral deviation of nearest match point, ecopFor the lateral deviation at COP points；The above various differential is obtained：
The vehicle dynamic model of foundation is：
Wherein：ayWith UyRespectively transverse acceleration and lateral velocity, UxIt is longitudinal velocity, FyfWith FyrIt is front wheel side respectively Inclined power and trailing wheel lateral deviation power, IzzIt is the rotary inertia of vehicle, S is move distance, and r is yaw velocity, and a and b are front axle respectively Away from rear axle away from；For the purpose of tracking trajectory capacity, the dynamic state variables U of vehicleyIt is changed into and expected path phase with r needs The state variable of pass, lateral deviation acceleration and head are directed toward deviation acceleration：
It is further, described that using COP as the calculating of reference point modeling elimination trailing wheel active force influence, steps are as follows：
Trailing wheel power FyrProducing both sides to the dynamic of system influences：First, trailing wheel power FyrOne be will produce along vehicle Body laterally acceleratesSecondly, it will produce the angular acceleration around car body center CGIn COP points, the transverse direction that trailing wheel power generates adds SpeedEliminate the influence of rotation acceleration：By formulaAfter deformation It arrives：It substitutes into the expression formula of lateral deviation acceleration and eliminates trailing wheel power FyrIt is rightInfluence：
Further, steps are as follows for the calculating of the feedforward of front-wheel described in step 3 lateral deviation power：
Since executing agency can only control front-wheel directed force Fyf, trailing wheel directed force F cannot be controlledyr, therefore FyfIt can be independent Control transverse movement e, weaving Δ ψ or Comprehensive Control transverse movement e and weaving Δ ψ；It is by lateral deviation The unstable lateral deviation acceleration generated, lateral deviation acceleration, which is taken, zero can eliminateInfluence, and can eliminate The influence of road curvature, the front-wheel lateral deviation power obtained at this time are referred to as front-wheel feedforward lateral deviation powerIts expression formula is：
Further, steps are as follows for the calculating of the feedback of front-wheel described in step 4 lateral deviation power：
The linear feedback controller of one total state is used to planned course tracking control unit, and system is controlled for front-wheel steer System, it is as follows that front-wheel feeds back lateral deviation power form：
Wherein：The real-time track tracking mode variable of vehicle is：Feedback oscillator is：K =[k1k2k3k4], feedback oscillator K is the optimum feedback control rate determined based on LQR algorithms here.
Further, the principle of the LQR control algolithms is as follows：
For linear systemDetermine the optimal solution K of feedback rate control U (t)=- KX (T) so that as follows Performance indicator minimizes：
Optimum feedback control rate is：K=R-1BTP, wherein P can be obtained by solving following Algebraic Riccati equations： PA+ATP-PBR-1BPT+ Q=0.
Further, the linear systemModeling process it is as follows：
Front-wheel lateral deviation power is made of front-wheel feedforward lateral deviation active force and front-wheel feedback lateral deviation active force, and expression formula is：It willIt substitutes into lateral deviation acceleration and head is directed toward deviation acceleration and obtains：
Trailing wheel power is generated by automobile dynamic motion, it is trailing wheel side drift angle αrFunction, it is assumed that be linear tire, wheel Tire power and side drift angle αrIt is linear relationship；When automobile is in extreme sport state, linear tire assumes no longer to be applicable in, dimensionless Coefficient η is introduced into non-linear tire motion state；Trailing wheel lateral deviation power is expressed as with tracking quantity of state：
Above-mentioned tracking variable is substituted into state-space expressionIt can obtain：
Further, steps are as follows for the calculating of the control of steering wheel angle displacement amount described in step 5：
Front-wheel lateral deviation powerReally by front-wheel feedforward lateral deviation active force and front-wheel feedback lateral deviation active force institute It is fixed；Front-wheel lateral deviation power FyfIt is converted into front wheel angle by following formula and inputs δ：
Wherein：f-1(Fyf) it is tire cornering power and tyre skidding relevant inverse tire model, i.e. slip angle of tire and tire The relationship of lateral deviation power, r are yaw velocity, and a is front axle away from UyWith UxIt is lateral velocity and longitudinal velocity respectively.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) Vehicle tracing Controlling model is established by reference point of COP, eliminates trailing wheel lateral deviation power and lateral deviation is drawn The influence of the lateral deviation acceleration risen, to improve vehicle roll stability.
(2) optimum feedback control rate is obtained using LQR algorithms in feedback control, made for adjusting control and turning to input The interference of road environment and the influence of model error minimize, to improve tracking accuracy.
(3) present invention calculates front-wheel lateral deviation power first, slip angle of tire is obtained further according to inverse tire model, to constrain Slip angle of tire, avoid vehicle under limiting condition tire force saturation to there is the possibility of vehicle unstability.
Description of the drawings
Fig. 1 is a kind of track following control of Trajectory Tracking Control method for automatic driving vehicle provided by the present invention Flow chart processed.
Fig. 2 is that 2 points of a kind of Trajectory Tracking Control method for automatic driving vehicle provided by the present invention seek curvature Schematic diagram.
Fig. 3 is a kind of centre of percussion of Trajectory Tracking Control method for automatic driving vehicle provided by the present invention COP schematic diagrames.
Fig. 4 is a kind of dynamics of vehicle of Trajectory Tracking Control method for automatic driving vehicle provided by the present invention Model schematic.
Fig. 5 is a kind of inverse tire model of Trajectory Tracking Control method for automatic driving vehicle provided by the present invention Schematic diagram.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment come the present invention will be described in detail, specific embodiment therein and explanation only For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, the invention discloses a kind of Trajectory Tracking Control method for automatic driving vehicle, including it is as follows Step：
Step 1 is used as according to one high-precision cartographic information of GPS/INS system acquisitions and refers to track, when vehicle is at this When tracking moves on reference locus the current location point of vehicle body is determined according to vehicle sensors；
Step 2, vehicle are searched out according to the reference locus acquired in step 1 apart from vehicle during tracking moves The nearest match point of current location point, the forward face point of the nearest match point certain distance of selected distance seek curvature method according to 2 points Obtain the road curvature at nearest match point；
Step 3 is calculated by the current vehicle position point determined in step 1 with the nearest match point determined in step 2 To track following deviation, including lateral deviation and head error in pointing；The current location point of vehicle depends on vehicle body alignment sensor The sensor is generally placed at vehicle centroid by the position on vehicle；It finds vehicle centre of percussion COP and (is located at vehicle body front axle Place), calculate the track following deviation at the centre of percussion；It is bent according to vehicle dynamic model and tracking state variable and road Rate is calculated the relationship of lateral deviation acceleration and tire cornering power and road curvature at COP, and by lateral deviation acceleration Take zero front-wheel feedforward lateral deviation power is calculated, the influence for eliminating lateral deviation acceleration and road curvature improves vehicle Roll stability；
Step 4, the inaccuracy of interference and model from external environment, causes intelligent vehicle that can go out in actual operation Existing tracking error；In order to eliminate error, and Trajectory Tracking Control precision is improved, proposes to feed back lateral deviation effect by increasing front-wheel Power is to eliminate the improvement strategy of error；The kinetic model for feeding back lateral deviation power based on front-wheel is established, is obtained using LQR control algolithms Optimum feedback control rate, and the tracking state variable for combining step 3 to obtain builds the linear feedback controller of total state, thus Obtained feedback control amount is front-wheel feedback lateral deviation power, for eliminating caused by external environment interference and model inaccuracy Tracking error；
Step 5, the front-wheel feedback lateral deviation power that the front-wheel feedforward lateral deviation power and step 4 obtained according to step 3 obtains determine Go out front-wheel lateral deviation power, then front-wheel side drift angle is obtained based on inverse tire model, is finally inputted to obtain track following according to front wheel angle The control of steering wheel angle displacement amount of control, is issued in wire-controlled steering system and realizes Trajectory Tracking Control.
As shown in Fig. 2, asking curvature process as follows based on 2 points in step 2：
Since AO is the tangent line of arc section where trace centerline, so AO is vertical with AC, AB is the arc on circle, D AB Midpoint, it is similar to Δ ADC by Δ AOB, can obtain：
Curvature is as available from the above equation：
Centre of percussion COP described in step 3 is：
When rigid body makees Fixed-point Motion of A under external force, larger additonal pressure can be generated at fulcrum, this power is in reality It is often endangered in the application of border very big.But when external force acts on rigid body specific position, rigid body reaches dynamic balancing, this attached Plus-pressure can be eliminated.At this moment rotating fulcrum, is named and is freely rotated a little, even if cancelling constraint, rigid body is still rotated around the point.This The external force special role position of sample is exactly the centre of percussion COP of rigid body.Automobile is regarded as a rigid body, and in the strike of automobile Heart position approximation is at automobile front axle, as shown in figure 3, automobile can also be acted on during exercise by front and back wheel lateral deviation power, to beat All and relevant influence factor of trailing wheel active force can be eliminated by hitting heart COP modelings, also simplify the design of controller architecture.
As shown in figure 3, vehicle centre of percussion COP needs to meet in step 3：
In above formula：xlaIt is automobile barycenter along vehicle body longitudinal axis forward face point distance, xcopIt is distance of the automobile barycenter to COP points, IzzIt is rotary inertia；Due to Izz≈ mab, then just there is xcop≈ a illustrate the position approximation of the centre of percussion at automobile front axle； Here m is the quality of vehicle, a and b be respectively front axle away from rear axle away from.
Steps are as follows for the calculating of track following deviation and lateral deviation acceleration at COP described in step 3：
Assuming that only small deflection angle and ignore longitudinal force, kinetic model and track following state variable such as Fig. 4 institutes Show, track following deviation calculates as follows：
Δ ψ=ψ-ψr
ecop=e+xp sinΔψ
Wherein：ψ is that vehicle head is directed toward, ψrIt is that road is directed toward, Δ ψ is an error in pointing, xpIt is front shaft away from e is that barycenter arrives The lateral deviation of nearest match point, ecopFor the lateral deviation at COP points；The above various differential is obtained：
It is according to Fig. 4 vehicle dynamic models established：
Wherein：ayWith UyRespectively transverse acceleration and lateral velocity, UxIt is longitudinal velocity, FyfWith FyrIt is front wheel side respectively Inclined power and trailing wheel lateral deviation power, IzzIt is the rotary inertia of vehicle, S is move distance, and r is yaw velocity, and a and b are front axle respectively Away from rear axle away from；For the purpose of tracking trajectory capacity, the dynamic state variables U of vehicleyIt is changed into and expected path phase with r needs The state variable of pass, lateral deviation acceleration and head are directed toward deviation acceleration：
It is described that using COP as the calculating of reference point modeling elimination trailing wheel active force influence, steps are as follows：
Trailing wheel power FyrProducing both sides to the dynamic of system influences：First, trailing wheel power FyrOne be will produce along vehicle Body laterally acceleratesSecondly, it will produce the angular acceleration around car body center CGIn COP points, the transverse direction that trailing wheel power generates adds SpeedEliminate the influence of rotation acceleration：By formulaIt is obtained after deformation：It substitutes into the expression formula of lateral deviation acceleration and eliminates trailing wheel power FyrIt is rightInfluence：
Front-wheel described in step 3 feedovers, and steps are as follows for lateral deviation power calculating：
Since executing agency can only control front-wheel directed force Fyf, trailing wheel directed force F cannot be controlledyr, therefore FyfIt can be independent Control transverse movement e, weaving Δ ψ or Comprehensive Control transverse movement e and weaving Δ ψ；It is by lateral deviation The unstable lateral deviation acceleration generated, lateral deviation acceleration, which is taken, zero can eliminateInfluence, and can eliminate The influence of road curvature, the front-wheel lateral deviation power obtained at this time are referred to as front-wheel feedforward lateral deviation powerIts expression formula is：
Steps are as follows for the calculating of the feedback lateral deviation power of front-wheel described in step 4：
The linear feedback controller of one total state is used to planned course tracking control unit, and this method is typically used for In linear time invariant system, for front-wheel steer control system, it is as follows that front-wheel feeds back lateral deviation power form：
Wherein：The real-time track tracking mode variable of vehicle is：Feedback oscillator is：K =[k1k2k3k4], feedback oscillator K is the optimum feedback control rate determined based on LQR algorithms here.
The principle of the LQR control algolithms is as follows：
LQR optimal problems are：For linear systemDetermine feedback rate control U (t)=- KX (T) most Excellent solution K so that following performance indicator minimizes：
Optimum feedback control rate is：K=R-1BTP, wherein P can be obtained by solving following Algebraic Riccati equations：
PA+ATP-PBR-1BPT+ Q=0.
The linear systemModeling process it is as follows：
Front-wheel lateral deviation power is made of front-wheel feedforward lateral deviation active force and front-wheel feedback lateral deviation active force, and expression formula is：It willIt substitutes into lateral deviation acceleration and head is directed toward deviation acceleration and obtains：
Trailing wheel power is generated by automobile dynamic motion, it is trailing wheel side drift angle αrFunction, it is assumed that be linear tire, wheel Tire power and side drift angle αrIt is linear relationship；When automobile is in extreme sport state, linear tire assumes no longer to be applicable in, dimensionless Coefficient η is introduced into non-linear tire motion state；Trailing wheel lateral deviation power is expressed as with tracking quantity of state：
Above-mentioned tracking variable is substituted into state-space expressionIt can obtain：
Steps are as follows for the calculating of the control of steering wheel angle displacement amount described in step 5：
Front-wheel lateral deviation powerBy front-wheel feedforward lateral deviation active force and front-wheel feedback lateral deviation active force institute It determines；Front-wheel lateral deviation power FyfIt is converted into front wheel angle by following formula and inputs δ：
Wherein：f-1(Fyf) it is tire cornering power and tyre skidding relevant inverse tire model, i.e. slip angle of tire and tire The relationship of lateral deviation power, for inverse tire model as shown in figure 5, r is yaw velocity, a is front axle away from UyWith UxIt is lateral velocity respectively With longitudinal velocity.As seen from Figure 5, when front-wheel lateral deviation power reaches certain value, slip angle of tire will not be with Wheel slip The increase of power and increase, to playing effect of contraction to slip angle of tire.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to restrict the invention, all essences in the present invention Any modification, equivalent replacement and improvement etc., should be included in protection scope of the present invention made by within refreshing and spirit Within.

Claims (10)

1. a kind of Trajectory Tracking Control method for automatic driving vehicle, it is characterised in that：Include the following steps：
Step 1 is used as according to one high-precision cartographic information of GPS/INS system acquisitions and refers to track, when vehicle is referred at this When tracking moves on track the current location point of vehicle body is determined according to vehicle sensors；
Step 2, vehicle search out according to the reference locus acquired in step 1 and work as apart from vehicle during tracking moves The nearest match point of front position point, the forward face point of the nearest match point certain distance of selected distance ask curvature method to obtain according to 2 points Road curvature at nearest match point；
Rail is calculated with the nearest match point determined in step 2 by the current vehicle position point determined in step 1 in step 3 Mark tracing deviation, including lateral deviation and head error in pointing；Vehicle centre of percussion COP is found, the rail at the centre of percussion is calculated Mark tracing deviation；Lateral deviation at COP is calculated according to vehicle dynamic model and tracking state variable and road curvature The relationship of acceleration and tire cornering power and road curvature, and take zero front-wheel feedforward lateral deviation is calculated lateral deviation acceleration Power, the influence for eliminating lateral deviation acceleration and road curvature improve the roll stability of vehicle；
Step 4 is established the kinetic model for being fed back lateral deviation power based on front-wheel, optimum feedback control is obtained using LQR control algolithms Rate, and the tracking state variable for combining step 3 to obtain builds the linear feedback controller of total state, thus obtained feedback control Amount processed is front-wheel feedback lateral deviation power, for eliminating tracking error caused by external environment interference and model inaccuracy；
Step 5, before the front-wheel feedback lateral deviation power that the front-wheel feedforward lateral deviation power and step 4 obtained according to step 3 obtains is determined Lateral deviation power is taken turns, then front-wheel side drift angle is obtained based on inverse tire model, is finally inputted to obtain Trajectory Tracking Control according to front wheel angle The control of steering wheel angle displacement amount, be issued in wire-controlled steering system and realize Trajectory Tracking Control.
2. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 1, it is characterised in that：Step Curvature method calculating road curvature is asked to be as follows at 2 points in rapid two：
Extract the forward face point of nearest match point and the nearest match point certain distance of selected distance on reference locus, find out this two The difference of the lateral coordinates and longitudinal coordinate of point, the curvature at the nearest match point is solved according to geometry relationship.
3. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 1, it is characterised in that：Step Centre of percussion COP described in rapid three refers to：When rigid body does Fixed-point Motion of A under external force, external force acts on rigid body special bit It sets, rigid body reaches dynamic balancing at this time, rotating fulcrum at this moment, even if cancelling constraint, rigid body is still rotated around the point, such outer Power special role position is exactly the centre of percussion COP of rigid body；Automobile is regarded as a rigid body, automobile during exercise can be by preceding The effect of trailing wheel lateral deviation power can eliminate all and relevant influence factor of trailing wheel active force with centre of percussion COP modelings, simplify The design of controller architecture；Vehicle centre of percussion COP needs to meet in step 3：X in formulalaIt is automobile matter The heart is along vehicle body longitudinal axis forward face point distance, xcopIt is distance of the automobile barycenter to COP points, IzzIt is rotary inertia；Due to Izz≈ mab, Then just there is xcop≈ a, m is the quality of vehicle here, a and b be respectively front axle away from rear axle away from.
4. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 3, it is characterised in that：Step Steps are as follows for the calculating of track following deviation and lateral deviation acceleration at COP described in rapid three：
Assuming that only small deflection angle and ignoring longitudinal force, track following deviation calculates as follows：
Δ ψ=ψ-ψr
ecop=e+xpsinΔψ
Wherein：ψ is that vehicle head is directed toward, ψrIt is that road is directed toward, Δ ψ is an error in pointing, xpIt is front shaft away from e is barycenter to recently The lateral deviation of match point, ecopFor the lateral deviation at COP points；The above various differential is obtained：
The vehicle dynamic model of foundation is：
Wherein：ayWith UyRespectively transverse acceleration and lateral velocity, UxIt is longitudinal velocity, FyfWith FyrIt is front-wheel lateral deviation power respectively With trailing wheel lateral deviation power, IzzThe rotary inertia of vehicle, S is move distance, and r is yaw velocity, a and b be front axle respectively away from Rear axle away from；For the purpose of tracking trajectory capacity, the dynamic state variables U of vehicleyIt is changed into r needs relevant with expected path State variable, lateral deviation acceleration and head are directed toward deviation acceleration：
5. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 4, it is characterised in that：Institute State using COP as reference point model eliminate trailing wheel active force influence calculating steps are as follows：
Trailing wheel power FyrProducing both sides to the dynamic of system influences：First, trailing wheel power FyrOne be will produce along car body It laterally acceleratesSecondly, it will produce the angular acceleration around car body center CGIn the transverse acceleration that COP points, trailing wheel power generateEliminate the influence of rotation acceleration：By formulaIt is obtained after deformation：It substitutes into the expression formula of lateral deviation acceleration and eliminates trailing wheel power FyrIt is rightInfluence：
6. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 5, it is characterised in that：Step Front-wheel described in rapid three feedovers, and steps are as follows for lateral deviation power calculating：
Since executing agency can only control front-wheel directed force Fyf, trailing wheel directed force F cannot be controlledyr, therefore FyfIt can individually control Transverse movement e, weaving Δ ψ or Comprehensive Control transverse movement e and weaving Δ ψ；It is to be generated by lateral deviation Unstable lateral deviation acceleration, lateral deviation acceleration, which is taken, zero can eliminateInfluence, and can eliminate road song The influence of rate, the front-wheel lateral deviation power obtained at this time are referred to as front-wheel feedforward lateral deviation powerIts expression formula is：
7. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 1, it is characterised in that：Step Steps are as follows for the calculating of the feedback lateral deviation power of front-wheel described in rapid four：
The linear feedback controller of one total state is used to planned course tracking control unit, for front-wheel steer control system, It is as follows that front-wheel feeds back lateral deviation power form：
Wherein：The real-time track tracking mode variable of vehicle is：Feedback oscillator is：K=[k1 k2 k3 k4], feedback oscillator K is the optimum feedback control rate determined based on LQR algorithms here.
8. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 7, it is characterised in that：Institute The principle for stating LQR control algolithms is as follows：
For linear systemDetermine the optimal solution K of feedback rate control U (t)=- KX (T) so that following performance refers to Mark minimizes：
Optimum feedback control rate is：K=R-1BTP, wherein P can be obtained by solving following Algebraic Riccati equations：PA+ ATP-PBR-1BPT+ Q=0.
9. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 8, it is characterised in that：Institute State linear systemModeling process it is as follows：
Front-wheel lateral deviation power is made of front-wheel feedforward lateral deviation active force and front-wheel feedback lateral deviation active force, and expression formula is：It willIt substitutes into lateral deviation acceleration and head is directed toward deviation acceleration and obtains：
Trailing wheel power is generated by automobile dynamic motion, it is trailing wheel side drift angle αrFunction, it is assumed that be linear tire, tire force With side drift angle αrIt is linear relationship；When automobile is in extreme sport state, linear tire assumes no longer to be applicable in, dimensionless factor η is introduced into non-linear tire motion state；Trailing wheel lateral deviation power is expressed as with tracking quantity of state：
Above-mentioned tracking variable is substituted into state-space expressionIt can obtain：
10. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 1, it is characterised in that： Steps are as follows for the calculating of the control of steering wheel angle displacement amount described in step 5：
Front-wheel lateral deviation powerIt is determined by front-wheel feedforward lateral deviation active force and front-wheel feedback lateral deviation active force； Front-wheel lateral deviation power FyfIt is converted into front wheel angle by following formula and inputs δ：
Wherein：f-1(Fyf) it is tire cornering power and tyre skidding relevant inverse tire model, i.e. slip angle of tire and Wheel slip The relationship of power, r are yaw velocity, and a is front axle away from UyWith UxIt is lateral velocity and longitudinal velocity respectively.
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