CN103085816A - Trajectory tracking control method and control device for driverless vehicle - Google Patents

Trajectory tracking control method and control device for driverless vehicle Download PDF

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CN103085816A
CN103085816A CN2013100376015A CN201310037601A CN103085816A CN 103085816 A CN103085816 A CN 103085816A CN 2013100376015 A CN2013100376015 A CN 2013100376015A CN 201310037601 A CN201310037601 A CN 201310037601A CN 103085816 A CN103085816 A CN 103085816A
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vehicle
controller
trajectory tracking
tracking control
control method
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CN103085816B (en
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王峻
陆梓嘉
宋吉鹏
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Tongji University
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Abstract

The invention relates to a trajectory tracking control method and a control device for a driverless vehicle. The control method comprises that error of present driving trajectory and a reference trajectory of a vehicle is calculated by a data preprocessor, a target performance indicator function which is corresponding to the present driving model is obtained simultaneously; an upper layer controller predicts driving states of the vehicle over a period of time through a vehicle dynamics model; transition switch is conducted to function parameters according to switching control algorithm, and a performance indicator function at present sampling time is obtained; optimal controlled quantity of present time is calculated by considering performance requirement constraint conditions at the same time according to predicted driving states and the performance indicator function; a lower layer controller calculates throttle opening, braking pedal pressure and steering wheel turning angle according to the optimal controlled quantity; and the control device comprises the data preprocessor, the upper layer controller and the lower layer controller. Compared with the prior art, the trajectory tracking control method and the control device for the driverless vehicle have the advantages of being good in control effect, high in practicability, capable of improving stability and safety of vehicles and the like.

Description

A kind of Trajectory Tracking Control method and control setup for automatic driving vehicle
Technical field
The present invention relates to a kind of control method for vehicle and device, especially relate to a kind of Trajectory Tracking Control method and control setup for automatic driving vehicle.
Background technology
Automatic driving vehicle utilizes onboard sensor to come the perception vehicle-periphery, and the road, vehicle location and the obstacle information that obtain according to perception, controls turning to and speed of vehicle, thus make vehicle can be safely, travel on road reliably.The driverless operation technology is as the new ideas of modernized war, new direction and the comprehensive verification platform of scientific research, the extremely concern of Defence business, auto-industry and colleges and universities and scientific research institution always of automotive technology development.And track following refers to follow the tracks of reference locus pre-defined by the trajectory planning device or that provide, is one of three basic problem of Unmanned Systems, is the major issue that can vehicle finally meet the demands and travel to safe and reasonable.
From the angle of vehicle dynamics, the stages such as Trajectory Tracking Control can be divided into that the control of cruising, adaptive cruise are controlled, automatic start-stop cruises controls, automated lane maintenance, express highway driverless operation and different kinds of roads driverless operation.Cruising wherein that control, adaptive cruise are controlled, automatic start-stop cruises and controlling belongs to vertical control, and its radical function is to make the longitudinal velocity of vehicle satisfy the needs that travel by controlling throttle and brake.Automated lane keeps belonging to horizontal control, and its function is to make vehicle along the place lanes by controlling steering wheel for vehicle.Express highway driverless operation and different kinds of roads driverless operation are comprehensive to what control in length and breadth.
At present domestic and even in the world about the research of automatic driving vehicle track following problem, consider less for vehicle dynamics characteristics, and in practical problems vehicle dynamics characteristics particularly tire characteristics is very complicated, extremely strong non-linearity and more constraint condition are arranged, adopt general PID or LQR controller can't satisfy the requirement of Trajectory Tracking Control.And on controller architecture, be the vertical and horizontal kinetic decomposition of vehicle to be opened apply respectively control policy, namely independently control respectively Vehicle Driving Cycle by speed controller and steering controller.Although this thinking can be simplified the design of control method and the realization of control setup, but because ignored the dynamic (dynamical) coupled characteristic of vehicle vertical, horizontal, sacrificed the driving performance of unmanned vehicle, particularly in stability and performances in emergency circumstances such as high speed, sharply turnings.In addition, for the traffic environment of complexity, adopt changeless control law can't satisfy the requirement of road driving.
Summary of the invention
Purpose of the present invention be exactly provide in order to overcome the defective that above-mentioned prior art exists a kind of control effective, practicality is high, can improve the Trajectory Tracking Control method and the control setup that are used for automatic driving vehicle of vehicle stability.
Purpose of the present invention can be achieved through the following technical solutions:
A kind of Trajectory Tracking Control method for automatic driving vehicle, described automatic driving vehicle is provided with track creator and vehicle sensors, and described Trajectory Tracking Control method comprises the steps:
A. the vehicle traveling information that collects of the reference locus that generates according to track creator of data pre-processor and vehicle sensors calculates the error of vehicle current driving track and reference locus, simultaneously according to the current driving mode of vehicle traveling information judgement vehicle, and obtain the target capabilities target function corresponding with the current driving pattern from track creator, and be transferred to the upper strata controller;
B. the upper strata controller is predicted the motoring condition of vehicle in a period of time according to the vehicle traveling information that vehicle sensors collects by vehicle dynamic model;
C. the upper strata controller is relatively gone up a sampling instant performance index function used target capabilities target function corresponding with the current driving pattern, according to the switching controls algorithm, function parameter is carried out transition and switches, and obtains the performance index function of current sampling instant;
D. according to the motoring condition of step b prediction and the performance index function of step c acquisition, consider simultaneously performance requriements constraint condition, calculate the optimal control amount of current time, and be transferred to lower floor's controller;
E. lower floor's controller is according to optimal control amount calculation of throttle aperture, brake pedal pressure and steering wheel angle, and controls vehicle according to result of calculation;
F. return to step a, realize real-time optimal control.
Described vehicle dynamic model comprises longitudinal direction of car one order inertia model and horizontal two wheel bicycle model and tire models.
In described step c, function parameter being carried out transition switching concrete steps is:
C1) obtain a upper moment performance index function J=∑ ay used (k+i|k) 2, wherein y (k+i|k) exports for the system that constantly predicts the k+i moment at k, i=1 ..., Np, Np is the prediction time domain, a is the weights to y;
C2) obtain the corresponding target capabilities target function J=∑ a of current driving pattern dY (k+i|k) 2, a dBe the weights to y, the difference Δ a=a of definition weights d-a;
C3) performance index function that calculates current time k is J=∑ { a+ Δ a[(i-1)/Np] } y (k+i|k) 2, at k+1 constantly, make a=a+ Δ a/Np.
Described optimal control amount comprises expection acceleration/accel and expection front wheel angle.
The concrete steps of calculating the optimal control amount of current time in described steps d are:
D1) will be converted to by the performance index function that step c obtains Quadratic Function Optimization J=J (y, u, Δ u), wherein y, u, Δ u are k+i predictor constantly, and wherein y is system's output of prediction, and u is controlling quantity, and Δ u is controlling increment;
D2) determine constraint condition C according to the performance requriements of vehicle, comprise y min≤ y≤y max, u min≤ u≤u max, Δ u min≤ Δ u≤Δ u max, wherein, y min, y maxBe the bound of system's output, u min, u maxBe the bound of controlling quantity, Δ u min, Δ u maxBound for controlling increment;
D3) optimization problem being transformed into objective function is that J, constraint condition are the quadratic programming problem of C, utilize the active-set method to find the solution and obtain optimal solution, be optimal control increment Delta u, the required optimal control amount of current time k u (k)=u (k-1)+Δ u (k) namely expects acceleration/accel a XdesWith expection front wheel angle δ Fdes
The performance requriements of described vehicle comprises tracking performance, travelling comfort and lateral stability.
The concrete calculation procedure of described step e is:
(i) calculation of throttle aperture:
F des = C D A / 21.15 V x 2 + Gf + δma xdes ,
T edes＝F desr/η Ti gi 0，
a thrdes＝MAP(ω e，T edes)，
F wherein desBe expection propulsive effort, C DBe air resistance coefficient, A is wind area, V xBe longitudinal driving speed, G is vehicle gravity, and f is friction coefficient, and δ is correction coefficient of rotating mass, and m is vehicle mass, T EdesBe the expection motor torque, r is the wheel shaft height, η TBe mechanical efficiency of power transmission, i 0Be final driver ratio, i gBe change speed gear box transmitting ratio, a ThrdesBe expection accelerator open degree, ω eBe engine speed, MAP is the corresponding relation function of accelerator open degree, engine speed and motor torque;
(ii) calculate brake pedal pressure: P Bkdes=F desr/K b, K wherein bBe the brake system gain;
(iii) calculated direction dish corner: δ sw=K wδ Fdes, δ wherein swBe steering wheel angle, K wBe the steering swivel system gain.
A kind of Trajectory Tracking Control device for automatic driving vehicle, comprise data pre-processor, upper strata controller and lower floor's controller, the input end of described data pre-processor connects respectively track creator and vehicle sensors, and mouth connects upper strata controller and lower floor's controller successively.
Described lower floor controller comprises throttle/brake sub-controller and bearing circle sub-controller.
Be provided with the switching logic circuit that adopts sluggish loop to realize in described throttle/brake sub-controller, prevent that the frequent switching of accelerator and brake and the un-reasonable phenomenon that accelerator and brake acts on simultaneously from occuring.
Compared with prior art, the present invention has the following advantages:
1. control effectively, consider the non-linearity of vehicle dynamics characteristics, particularly tire, control model more accurate, and adopt real-time optimization control algorithm (Model Predictive Control Algorithm), under the prerequisite that guarantees real-time, consider the constraint condition of Vehicle Driving Cycle, improve controller performance;
2. meet the Vehicle Driving Cycle actual conditions, the merotype optimal control according to the different qualities of each driving mode, is adopted different performance index functions, and is realized taking over seamlessly between different mode with corresponding handoff algorithms;
3. have simultaneously optimum voltinism and practicality, guarantee stability, the robustness of Trajectory Tracking Control, improve active safety, travelling comfort, the lateral stability of Vehicle Driving Cycle.
Description of drawings
Fig. 1 is the schematic flow sheet of the inventive method;
Fig. 2 is the structural representation of apparatus of the present invention.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.The present embodiment is implemented as prerequisite take technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figure 1, a kind of Trajectory Tracking Control method for automatic driving vehicle, described automatic driving vehicle is provided with track creator and vehicle sensors, and described Trajectory Tracking Control method comprises the steps:
A. the vehicle traveling information that collects of the reference locus that generates according to track creator of data pre-processor and vehicle sensors calculates the error of vehicle current driving track and reference locus, simultaneously according to the current driving mode of vehicle traveling information judgement vehicle, and obtain the target capabilities target function corresponding with the current driving pattern from track creator, and be transferred to the upper strata controller;
B. the upper strata controller is predicted the motoring condition of vehicle in a period of time according to the vehicle traveling information that vehicle sensors collects by vehicle dynamic model;
C. the upper strata controller is relatively gone up a sampling instant performance index function used target capabilities target function corresponding with the current driving pattern, according to the switching controls algorithm, function parameter is carried out transition and switches, and obtains the performance index function of current sampling instant;
D. according to the motoring condition of step b prediction and the performance index function of step c acquisition, consider simultaneously performance requriements constraint condition, calculate the optimal control amount of current time, and be transferred to lower floor's controller;
E. lower floor's controller is according to optimal control amount calculation of throttle aperture, brake pedal pressure and steering wheel angle, and controls vehicle according to result of calculation;
F. return to step a, realize real-time optimal control.
Described vehicle dynamic model comprises longitudinal direction of car one order inertia model and horizontal two wheel bicycle model and tire models.
In described step c, function parameter being carried out transition switching concrete steps is:
C1) obtain a upper moment performance index function J=∑ ay used (k+i|k) 2, wherein y (k+i|k) exports for the system that constantly predicts the k+i moment at k, i=1 ..., Np, Np is the prediction time domain, a is the weights to y;
C2) obtain the corresponding target capabilities target function J=∑ a of current driving pattern dY (k+i|k) 2, a dBe the weights to y, the difference Δ a=a of definition weights d-a;
C3) performance index function that calculates current time k is J=∑ { a+ Δ a[i-1)/Np] } y (k+i|k) 2, at k+1 constantly, make a=a+ Δ a/Np.
Described optimal control amount comprises expection acceleration/accel and expection front wheel angle.
The concrete steps of calculating the optimal control amount of current time in described steps d are:
D1) will be converted to by the performance index function that step c obtains Quadratic Function Optimization J=J (y, u, Δ u), wherein y, u, Δ u are k+i predictor constantly, and wherein y is system's output of prediction, and u is controlling quantity, and Δ u is controlling increment;
D2) determine constraint condition C according to the performance requriements of vehicle, comprise y min≤ y≤y max, u min≤ u≤u max, Δ u min≤ Δ u≤Δ u max, wherein, y min, y maxBe the bound of system's output, u min, u maxBe the bound of controlling quantity, Δ u min, Δ u maxBound for controlling increment;
D3) optimization problem being transformed into objective function is that J, constraint condition are the quadratic programming problem of C, utilize the active-set method to find the solution and obtain optimal solution, be optimal control increment Delta u, the required optimal control amount of current time k u (k)=u (k-1)+Δ u (k) namely expects acceleration/accel a XdesWith expection front wheel angle δ Fdes
The performance requriements of described vehicle comprises tracking performance, travelling comfort and lateral stability.
The concrete calculation procedure of described step e is:
(i) calculation of throttle aperture:
F des = C D A / 21.15 V x 2 + Gf + δma xdes ,
T edes＝F desr/ηTi gi 0，
a thrdes＝MAP(ω e，T edes)，
F wherein desBe expection propulsive effort, C DBe air resistance coefficient, A is wind area, V xBe longitudinal driving speed, G is vehicle gravity, and f is friction coefficient, and δ is correction coefficient of rotating mass, and m is vehicle mass, T EdesBe the expection motor torque, r is the wheel shaft height, η TBe mechanical efficiency of power transmission, i 0Be final driver ratio, i gBe change speed gear box transmitting ratio, a ThrdesBe expection accelerator open degree, ω eBe engine speed, MAP is the corresponding relation function of accelerator open degree, engine speed and motor torque;
(ii) calculate brake pedal pressure: P Bkdes=F desr/K b, K wherein bBe the brake system gain;
(iii) calculated direction dish corner: δ sw=K wGadolinium δ Fdes, δ wherein swBe steering wheel angle, K wBe the steering swivel system gain.
As shown in Figure 2, a kind of Trajectory Tracking Control device for automatic driving vehicle, comprise data pre-processor 1, upper strata controller 2 and lower floor's controller 3, the input end of described data pre-processor 1 connects respectively track creator and vehicle sensors, and mouth connects upper strata controller 2 and lower floor's controller 3 successively.Data pre-processor 1 is carried out the calculating of current driving error and determining of the corresponding performance index function of target driving mode; Controller 2 performance model predictive control algorithms in upper strata calculate the optimal control amount and carry out pattern by pattern switching controls algorithm and switch.Lower floor's controller 3 comprises throttle/brake sub-controller 31 and bearing circle sub-controller 32.Be provided with the switching logic circuit that adopts sluggish loop to realize in described throttle/brake sub-controller 32, prevent that the frequent switching of accelerator and brake and the un-reasonable phenomenon that accelerator and brake acts on simultaneously from occuring.

Claims (10)

1. Trajectory Tracking Control method that is used for automatic driving vehicle, described automatic driving vehicle is provided with track creator and vehicle sensors, it is characterized in that, and described Trajectory Tracking Control method comprises the steps:
A. the vehicle traveling information that collects of the reference locus that generates according to track creator of data pre-processor and vehicle sensors calculates the error of vehicle current driving track and reference locus, simultaneously according to the current driving mode of vehicle traveling information judgement vehicle, and obtain the target capabilities target function corresponding with the current driving pattern from track creator, and be transferred to the upper strata controller;
B. the upper strata controller is predicted the motoring condition of vehicle in a period of time according to the vehicle traveling information that vehicle sensors collects by vehicle dynamic model;
C. the upper strata controller is relatively gone up a sampling instant performance index function used target capabilities target function corresponding with the current driving pattern, according to the switching controls algorithm, function parameter is carried out transition and switches, and obtains the performance index function of current sampling instant;
D. according to the motoring condition of step b prediction and the performance index function of step c acquisition, consider simultaneously performance requriements constraint condition, calculate the optimal control amount of current time, and be transferred to lower floor's controller;
E. lower floor's controller is according to optimal control amount calculation of throttle aperture, brake pedal pressure and steering wheel angle, and controls vehicle according to result of calculation;
F. return to step a, realize real-time optimal control.
2. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 1, is characterized in that, described vehicle dynamic model comprises longitudinal direction of car one order inertia model and horizontal two wheel bicycle model and tire models.
3. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 1, is characterized in that, in described step c, function parameter carried out transition switching concrete steps to be:
C1) obtain a upper moment performance index function J=∑ ay used (k+i|k) 2, wherein y (k+i|k) exports for the system that constantly predicts the k+i moment at k, i=1 ..., Np, Np is the prediction time domain, a is the weights to y;
C2) obtain the corresponding target capabilities target function J=∑ a of current driving pattern dY (k+i|k) 2, a dBe the weights to y, the difference Δ a=a of definition weights d-a;
C3) performance index function that calculates current time k is J=∑ { a+ Δ a[(i-1)/Np] } y (k+i|k) 2, at k+1 constantly, make a=a+ Δ a/Np.
4. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 3, is characterized in that, described optimal control amount comprises expection acceleration/accel and expection front wheel angle.
5. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 4, is characterized in that, the concrete steps of calculating the optimal control amount of current time in described steps d are:
D1) will be converted to by the performance index function that step c obtains Quadratic Function Optimization J=J (y, u, Δ u), wherein y, u, Δ u are k+i predictor constantly, and wherein y is system's output of prediction, and u is controlling quantity, and Δ u is controlling increment;
D2) determine constraint condition C according to the performance requriements of vehicle, comprise y min≤ y≤y max, u min≤ u≤u max, Δ u min≤ Δ u≤Δ max, wherein, y min, y maxBe the bound of system's output, u min, u maxBe the bound of controlling quantity, Δ u min, Δ u maxBound for controlling increment;
D3) optimization problem being transformed into objective function is that J, constraint condition are the quadratic programming problem of C, utilize the active-set method to find the solution and obtain optimal solution, be optimal control increment Delta u, the required optimal control amount of current time k u (k)=u (k-1)+Δ u (k) namely expects acceleration/accel a XdesWith expection front wheel angle δ Fdes
6. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 5, is characterized in that, the performance requriements of described vehicle comprises tracking performance, travelling comfort and lateral stability.
7. a kind of Trajectory Tracking Control method for automatic driving vehicle according to claim 5, is characterized in that, the concrete calculation procedure of described step e is:
(i) calculation of throttle aperture:
F des = C D A / 21.15 V x 2 + Gf + δma xdes ,
T edes＝F desr/η Ti gi 0，
a thrdes＝MAP(ω e，T edes)，
F wherein desBe expection propulsive effort, C DBe air resistance coefficient, A is wind area, V xBe longitudinal driving speed, G is vehicle gravity, and f is friction coefficient, and δ is correction coefficient of rotating mass, and m is vehicle mass, T EdesBe the expection motor torque, r is the wheel shaft height, η TBe mechanical efficiency of power transmission, i 0Be final driver ratio, i gBe change speed gear box transmitting ratio, a ThrdesBe expection accelerator open degree, ω eBe engine speed, MAP is the corresponding relation function of accelerator open degree, engine speed and motor torque;
(ii) calculate brake pedal pressure: P Bkdes=F desr/K b, K wherein bBe the brake system gain;
(iii) calculated direction dish corner: δ sw=K wδ Fdes, δ wherein swBe steering wheel angle, K wBe the steering swivel system gain.
8. Trajectory Tracking Control device for automatic driving vehicle as claimed in claim 1, it is characterized in that, comprise data pre-processor, upper strata controller and lower floor's controller, the input end of described data pre-processor connects respectively track creator and vehicle sensors, and mouth connects upper strata controller and lower floor's controller successively.
9. a kind of Trajectory Tracking Control device for automatic driving vehicle according to claim 8, is characterized in that, described lower floor controller comprises throttle/brake sub-controller and bearing circle sub-controller.
10. a kind of Trajectory Tracking Control device for automatic driving vehicle according to claim 8, is characterized in that, is provided with the switching logic circuit that adopts sluggish loop to realize in described throttle/brake sub-controller.
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