CN111086510B - Front wheel steering vehicle lane keeping control method based on prediction function control - Google Patents

Front wheel steering vehicle lane keeping control method based on prediction function control Download PDF

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CN111086510B
CN111086510B CN201911391945.XA CN201911391945A CN111086510B CN 111086510 B CN111086510 B CN 111086510B CN 201911391945 A CN201911391945 A CN 201911391945A CN 111086510 B CN111086510 B CN 111086510B
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vehicle
deviation
representing
front wheel
lateral
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CN111086510A (en
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谢磊
李威
张志铭
苏宏业
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Zhejiang University ZJU
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Abstract

The invention discloses a front wheel steering vehicle lane keeping control method based on prediction function control, which comprises the following steps: determining a physical parameter of the vehicle; establishing a deviation state space model according to the dynamic relation of the vehicle; obtaining a reference running state of the vehicle according to the current position of the vehicle; acquiring the actual running state of the vehicle, and calculating the transverse deviation at the current moment; calculating the rotation angle of a front wheel by using a prediction function control method to ensure that the vehicle runs on the center line of the lane; and sending the calculated front wheel steering angle to a corner control execution unit, and performing rolling optimization solution. The method of the invention can keep the front wheel steering vehicle running in the center of the lane on various roads, and the vehicle can quickly respond to the change of the center line of the lane and has the advantages of small overshoot, stability and the like.

Description

Front wheel steering vehicle lane keeping control method based on prediction function control
Technical Field
The invention belongs to the field of vehicle transverse motion control in a vehicle control system, and particularly relates to a front wheel steering vehicle lane keeping control method based on prediction function control.
Background
With the rapid development of economy and automobile industry, the production and consumption of vehicles are expanded, more and more automobiles go into thousands of households, and with the continuous increase of the number of the automobiles, the problems of traffic jam, sudden accidents and the like are increasingly prominent.
The intelligent auxiliary driving technology in automatic driving can assist a driver to ensure that the vehicle runs more safely and efficiently, wherein an automatic lane keeping system emphasizes the lateral control of the vehicle and ensures that the vehicle runs along the center line of a lane.
With the higher and higher requirements of the auxiliary driving technology on the lateral control of the vehicle, the vehicle lane keeping system gradually gets the wide attention of the scholars at home and abroad.
For vehicle lane keeping, many scholars have designed a corresponding steering control strategy: considering the parameter time-varying problem of the lateral dynamics of the automobile, designing a PID lane keeping control algorithm based on a BP neural network; aiming at the uncertainty of a vehicle model, a self-adaptive steering control algorithm is researched, but the online identification of parameters brings much inconvenience to the realization of the control algorithm; for speed disturbance during vehicle running, a lane keeping control rate based on fuzzy Takagi-Sugeno (T-S) is researched, and although the algorithm has low requirement on model accuracy, the control accuracy is not high.
Based on the prior art disclosed above, if a vehicle steering control method with simple algorithm, small calculation amount, fast tracking and high precision can be found, the vehicle can keep running near the center line of the lane with extremely small deviation, and the method has very important practical value. The Predictive Functional Control method is a novel Predictive Control algorithm which can respond to a rapid process and inherits the advantages of the Predictive Control algorithm, and is very suitable for being applied to a vehicle lane keeping Control system.
Disclosure of Invention
The invention provides a front wheel steering vehicle lane keeping control method based on prediction function control, which can be suitable for vehicle lane keeping of various road curves and is generally suitable for various vehicle types, only vehicle and road information needs to be acquired, and process control knowledge is not needed.
A method of controlling lane keeping of a front-wheel steering vehicle based on a prediction function, comprising the steps of:
(1) determining physical parameters of the vehicle, including vehicle mass m, distance l of front axle from center of gravityfDistance l of rear axle from center of gravityrMoment of inertia of the vehicle IzCornering stiffness C of the front wheelafCornering stiffness C of the rear wheelar；
(2) Establishing a vehicle transverse deviation state space model according to a vehicle dynamics relation;
(3) obtaining a reference running state of the vehicle according to the current position of the vehicle;
(4) acquiring the actual running state of the vehicle, and calculating the transverse deviation between the actual running state at the current moment and the reference running state;
(5) according to the transverse deviation at the current moment, calculating the front wheel rotation angle of the vehicle by using a prediction function control method so as to ensure that the vehicle runs on the center line of the lane;
(6) inputting the calculated steering angle to a steering control execution unit of the vehicle;
(7) and (6) repeating the steps 3 to 6 according to the set control period, and controlling the vehicle to run along the center of the lane.
In the step (2), the concrete steps of establishing the vehicle transverse deviation state space model are as follows:
(2-1) establishing the following vehicle transverse dynamic state space model:
Figure BDA0002345206170000021
wherein y represents the lateral position of the vehicle,
Figure BDA0002345206170000022
representing the lateral velocity of the vehicle, psi representing the vehicle heading angle,
Figure BDA0002345206170000023
indicating the vehicle course angular velocity, VxRepresenting the longitudinal speed of the vehicle, delta representing the steering angle of the front wheels of the vehicle, CafAnd CarRepresents the cornering stiffness of the front and rear wheels,/fAnd lrIndicating the distance of the front and rear axles from the center of gravity, IzRepresenting the moment of inertia of the vehicle, m representing the mass of the vehicle;
(2-2) converting the vehicle transverse dynamic state space model into a vehicle transverse deviation state space model:
Figure BDA0002345206170000031
wherein e is1Indicating the deviation of the lateral distance of the vehicle from the center line of the roadway,
Figure BDA0002345206170000032
derivative representing the deviation of the lateral distance of the vehicle from the center line of the road, e2Indicating the heading angle deviation of the vehicle from the road reference point,
Figure BDA0002345206170000036
representing the derivative of the heading angle deviation of the vehicle from the road reference point,
Figure BDA0002345206170000033
representing a desired heading angular velocity of the road reference point;
(2-3) setting the sampling period as T, and discretizing the vehicle transverse deviation state space model in the step (2-2) to obtain
Figure BDA0002345206170000034
Wherein e is1(k) Expressed as the lateral distance deviation of the vehicle from the center line of the roadway at time k,
Figure BDA0002345206170000035
expressed as the derivative of the deviation of the lateral distance of the vehicle from the center line of the roadway at the moment k, e2(k) Expressed as the heading angle deviation of the vehicle from the road reference point at time k,
Figure BDA0002345206170000041
expressed as the derivative of the course angular deviation of the vehicle from the road reference point at time k; k denotes the current time, k +1 denotes the next time, and so on.
In the step (3), the reference driving state of the vehicle includes: global abscissa XdesGlobal ordinate YdesGlobal heading angle psidesAnd global course angular velocity
Figure BDA0002345206170000042
In the step (4), the calculation method of the lateral deviation comprises the following steps:
Figure BDA0002345206170000043
Figure BDA0002345206170000044
wherein, VyIndicating the vehicle lateral speed.
In the step (5), the concrete steps of calculating the front wheel steering angle of the vehicle by using the prediction function control method are as follows:
(5-1) constructing a model prediction equation by using the discrete vehicle lateral deviation state space model,
Figure BDA0002345206170000045
wherein n isyRepresenting the prediction step size, ξm(k) Expressed as the vehicle lateral deviation model value at time k, the matrices a, B, G have the following meanings:
Figure BDA0002345206170000046
Figure BDA0002345206170000051
(5-2) solving the following formula to calculate the front wheel rotation angle,
Figure BDA0002345206170000052
wherein ξp(k) Expressed as the actual value of the lateral deviation of the vehicle at time k,
Figure BDA0002345206170000053
Figure BDA0002345206170000054
Figure BDA0002345206170000055
λ represents the expected response time.
In the step (7), the control period is equal to the sampling period T.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, a vehicle transverse dynamic state space model is established through the vehicle lateral motion rule and the tire cornering characteristic, so that optimization and control are facilitated.
2. The invention sets a reference track according to the actual value and the predicted value, so that the reference track gradually approaches the future set value, the output is smooth and reaches the set point, and the overshoot is smaller.
3. The method can realize real-time rolling optimization and feedback correction, and reduce road tracking errors.
4. The invention controls the vehicle lane keeping system by utilizing the prediction function control, and has simpler algorithm, small calculated amount, quick tracking and high precision.
5. The method of the invention can control the vehicle automatically without manual intervention, and is an important supplement to the vehicle intelligent auxiliary technology.
Drawings
FIG. 1 is a schematic diagram of a lane keeping experiment lane of a vehicle in an embodiment of the invention;
FIG. 2 is a flow chart of a method for controlling lane keeping of a front-wheel steering vehicle based on predictive function control in accordance with the present invention;
FIG. 3 is a schematic diagram of an actual position of a vehicle in a lane keeping test of the vehicle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a lateral deviation of a vehicle in a lane keeping experiment of the vehicle according to the embodiment of the invention.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples, which are intended to facilitate the understanding of the invention without limiting it in any way.
In this embodiment, a car with a certain front wheel steering is taken as an example, and the car needs to drive through a curved road, as shown in fig. 1, the curved road is formed by splicing two straight roads into an arc, the straight road is 50m, the curvature radius of the road corresponding to the curved road is 100m, and the corner of the curved road is 90 degrees.
As shown in fig. 2, a method for controlling lane keeping of a front-wheel steering vehicle based on a prediction function, includes:
step 1, determining physical parameters of a vehicle, including the mass m of the vehicle 1573kg and the distances l between a front axle and a center of gravity and between a rear axle and the center of gravityf1.1m and lr1.58m, moment of inertia I of the vehiclez＝2873kg·m2Cornering stiffness C of front and rear wheelsaf＝80kN/rad，Car＝80kN/rad；
Step 2, establishing a vehicle transverse deviation state space model according to a vehicle dynamics relation, wherein the specific implementation mode for establishing the vehicle transverse deviation state space model is as follows:
step 2-1, establishing the following vehicle transverse dynamic state space model
Figure BDA0002345206170000061
Wherein y represents the lateral position of the vehicle,
Figure BDA0002345206170000063
representing the lateral velocity of the vehicle, psi representing the vehicle heading angle,
Figure BDA0002345206170000062
indicating the vehicle course angular velocity, VxRepresenting the longitudinal speed of the vehicle, delta representing the steering angle of the front wheels of the vehicle, CafAnd CarRepresents the cornering stiffness of the front and rear wheels,/fAnd lrIndicating the distance of the front and rear axles from the center of gravity, IzRepresenting the moment of inertia of the car and m representing the mass of the car.
Step 2-2, converting the vehicle transverse dynamic state space model into a vehicle transverse deviation state space model:
Figure BDA0002345206170000071
wherein e is1Indicating the deviation of the lateral distance of the vehicle from the center line of the roadway,
Figure BDA0002345206170000072
denotes e1Derivative of e2Indicating the heading angle deviation of the vehicle from the road reference point,
Figure BDA0002345206170000073
denotes e2The derivative of (a) of (b),
Figure BDA0002345206170000074
representing the desired heading angular velocity of the road reference point.
Step 2-3, setting the sampling period as T equal to 80ms, and discretizing the vehicle transverse deviation state space model in the step 2-2 to obtain
Figure BDA0002345206170000075
Wherein e is1(k) Expressed as the lateral distance deviation of the vehicle from the center line of the roadway at time k,
Figure BDA0002345206170000076
expressed as the derivative of the deviation of the lateral distance of the vehicle from the center line of the roadway at the moment k, e2(k) Expressed as the heading angle deviation of the vehicle from the road reference point at time k,
Figure BDA0002345206170000077
expressed as the derivative of the heading angle deviation of the vehicle from the road reference point at time k, and so on.
Step 3, obtaining a reference running state of the vehicle according to the current position of the vehicle; including a global abscissa XdesGlobal ordinate YdesGlobal course angle psidesGlobal course angular velocity
Figure BDA0002345206170000081
Step 4, the method for calculating the transverse deviation of the current time comprises
Figure BDA0002345206170000082
Figure BDA0002345206170000083
Wherein VyIndicating the vehicle lateral speed.
Step 5, calculating the front wheel rotation angle of the vehicle by using a prediction function control method to ensure that the vehicle runs on the center line of the lane; the specific embodiment in which the front wheel steering angle of the vehicle is calculated using the prediction function control is:
step 5-1, constructing a model prediction equation by using the discrete vehicle lateral deviation state space model,
Figure BDA0002345206170000084
wherein n isyRepresenting the prediction step size, ξm(k) Expressed as the vehicle lateral deviation model value at time k, the matrices a, B, G have the following meanings:
Figure BDA0002345206170000085
Figure BDA0002345206170000091
step 5-2, solving the following formula to calculate the front wheel rotation angle,
Figure BDA0002345206170000092
wherein ξp(k) Expressed as the actual value of the lateral deviation of the vehicle at time k,
Figure BDA0002345206170000093
Figure BDA0002345206170000094
Figure BDA0002345206170000095
λ represents the expected response time.
And 6, inputting the calculated steering angle to a steering control execution unit of the vehicle.
And 7, controlling the period to be equal to the sampling period, namely 80ms, repeating the steps 3 to 6, and controlling the vehicle to run along the center of the lane.
The final control effect is as shown in fig. 3 and fig. 4, after the vehicle enters the curve, a left turn signal is generated, so that the vehicle quickly returns to the vicinity of the center line of the lane, after the vehicle leaves the curve, the vehicle gradually turns back to the positive direction, enters the straight road after leaving the curve, and runs along the center line of the vehicle. The method of the invention can well respond the change of the lane by controlling the vehicle to keep running along the lane, and has the advantages of small overshoot, rapid response and the like.
The embodiments described above are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions and equivalents made within the scope of the principles of the present invention should be included in the scope of the present invention.

Claims (4)

1. A method for controlling lane keeping of a front-wheel steering vehicle based on a prediction function, comprising the steps of:
(1) determining physical parameters of the vehicle, including vehicle mass m, distance l of front axle from center of gravityfDistance l of rear axle from center of gravityrMoment of inertia of the vehicle IzCornering stiffness C of the front wheelafCornering stiffness C of the rear wheelar；
(2) Establishing a vehicle transverse deviation state space model according to a vehicle dynamics relation; the method comprises the following specific steps:
(2-1) establishing the following vehicle transverse dynamic state space model:
Figure FDA0002936925430000011
wherein y represents the lateral position of the vehicle,
Figure FDA0002936925430000012
representing the lateral velocity of the vehicle, psi representing the vehicle heading angle,
Figure FDA0002936925430000013
indicating the vehicle course angular velocity, VxRepresenting the longitudinal speed of the vehicle, delta representing the steering angle of the front wheels of the vehicle, CafAnd CarRepresents the cornering stiffness of the front and rear wheels,/fAnd lrIndicating the distance of the front and rear axles from the center of gravity, IzRepresenting the moment of inertia of the vehicle, m representing the mass of the vehicle;
(2-2) converting the vehicle transverse dynamic state space model into a vehicle transverse deviation state space model:
Figure FDA0002936925430000021
wherein e is1Indicating the deviation of the lateral distance of the vehicle from the center line of the roadway,
Figure FDA0002936925430000022
derivative representing the deviation of the lateral distance of the vehicle from the center line of the road, e2Indicating the heading angle deviation of the vehicle from the road reference point,
Figure FDA0002936925430000023
representing the derivative of the heading angle deviation of the vehicle from the road reference point,
Figure FDA0002936925430000024
representing a desired heading angular velocity of the road reference point;
(2-3) setting the sampling period as T, and discretizing the vehicle transverse deviation state space model in the step (2-2) to obtain
Figure FDA0002936925430000025
Wherein e is1(k) Expressed as the lateral distance deviation of the vehicle from the center line of the roadway at time k,
Figure FDA0002936925430000026
expressed as the derivative of the deviation of the lateral distance of the vehicle from the center line of the roadway at the moment k, e2(k) Expressed as the heading angle deviation of the vehicle from the road reference point at time k,
Figure FDA0002936925430000027
expressed as the derivative of the course angle deviation of the vehicle from the road reference point at time k, and so on;
(3) obtaining a reference running state of the vehicle according to the current position of the vehicle;
(4) acquiring the actual running state of the vehicle, and calculating the transverse deviation between the actual running state at the current moment and the reference running state;
(5) according to the transverse deviation at the current moment, calculating the steering angle of the front wheel of the vehicle by using a prediction function control method so as to ensure that the vehicle runs on the center line of the lane; the concrete steps of calculating the front wheel turning angle of the vehicle by using the prediction function control method are as follows:
(5-1) constructing a model prediction equation by using the discrete vehicle lateral deviation state space model,
Figure FDA0002936925430000031
wherein n isyRepresenting the prediction step size, ξm(k) Expressed as the vehicle lateral deviation model value at time k, the matrices a, B, G have the following meanings:
Figure FDA0002936925430000032
Figure FDA0002936925430000033
(5-2) solving the following formula to calculate the front wheel rotation angle,
Figure FDA0002936925430000041
wherein ξp(k) Expressed as the actual value of the lateral deviation of the vehicle at time k,
Figure FDA0002936925430000042
Figure FDA0002936925430000043
Figure FDA0002936925430000044
λ represents the expected response time;
(6) inputting the calculated steering angle to a steering control execution unit of the vehicle;
(7) and (4) repeating the steps (3) to (6) according to the set control period, and controlling the vehicle to run along the center of the lane.
2. The method of claim 1The method for controlling lane keeping of a front-wheel steering vehicle based on prediction function control, characterized in that in step (3), the reference traveling state of the vehicle includes: global abscissa XdesGlobal ordinate YdesGlobal heading angle psidesAnd desired heading angular velocity of road reference point
Figure FDA0002936925430000045
3. The predictive function control-based front wheel steering vehicle lane keep control method according to claim 1, wherein in the step (4), the calculation method of the lateral deviation is:
Figure FDA0002936925430000046
Figure FDA0002936925430000047
wherein, VyIndicating the vehicle lateral speed.
4. The predictive function control-based front wheel steering vehicle lane keep control method according to claim 1, wherein in step (7), the control period is equal to a sampling period T.
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