Research on Path Tracking Control Under Limit Conditions Based on Tire State Stiffness Prediction
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摘要: 为解决高速极限工况下自动驾驶车辆紧急避撞时传统路径跟踪控制方法因轮胎力表达不精确导致的路径跟踪失败问题, 提出一种基于轮胎状态刚度预测的模型预测路径跟踪控制方法. 首先, 基于非线性UniTire轮胎模型求解的轮胎状态刚度对非线性轮胎力进行线性化处理. 其次, 基于期望路径信息提出状态刚度预测方法, 实现预测时域内轮胎力的预测和线性化. 最后, MATLAB和CarSim联合仿真实验表明: 所提出的方法能够明显改善高速极限工况下的避撞控制效果.Abstract: To solve the problem of path tracking failure caused by the imprecise expression of tire force in conventional path tracking control system during the emergency collision avoidance of autonomous vehicles under high-speed limit condition, a model predictive path tracking control method based on tire state stiffness prediction is proposed. Firstly, the nonlinear tire force is linearized based on the tire state stiffness calculated by the nonlinear UniTire tire model. Secondly, based on the reference path information, the state stiffness prediction method is proposed to predict and linearize the tire force in the predicted horizon. Finally, MATLAB and CarSim joint simulation experiments show that the proposed method can improve the collision avoidance control effect under high-speed limit conditions obviously.
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表 1 车辆参数
Table 1 Vehicle parameters
参数 符号 值 质心到前轴的距离 lf 1.04 m 质心到后轴的距离 lr 1.56 m 整车质量 m 1 240 kg 横摆转动惯量 Iz 2 031.4 kgm2 
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表 2 控制器参数
Table 2 MPC controller parameters
参数 LTI-MPC LTV-MPC Ts 0.01 0.01 P 40 40 M 1 1 ${Y_{\max }}$(°) 5 5 ${\varphi _{\max }}$(°) 15 15 ${\delta _f}_{\max }$(°) 10 10 ${\Delta{\delta_f}_{\max }}$(°) 0.17 0.17 ${\tau _{\varphi ,80}}$ 550 550 ${\tau _{y ,80}}$ 260 260 ${\tau _{u ,80}}$ 1 900 1 900 ${\tau _{\varphi ,100}}$ 550 550 ${\tau _{y ,100}}$ 260 260 ${\tau _{u ,100}}$ 3 500 3 500
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