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[1] Wu Jianwei, Sun Beibei, Fu Qidi, et al. Calculation method for trajectory following controlfor autonomous vehicles [J]. Journal of Southeast University (English Edition), 2021, 37 (4): 356-364. [doi:10.3969/j.issn.1003-7985.2021.04.003]
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Calculation method for trajectory following controlfor autonomous vehicles()
无人驾驶路径跟踪控制计算方法
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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:
37
Issue:
2021 4
Page:
356-364
Research Field:
Traffic and Transportation Engineering
Publishing date:
2021-12-20

Info

Title:
Calculation method for trajectory following controlfor autonomous vehicles
无人驾驶路径跟踪控制计算方法
Author(s):
Wu Jianwei1;  2;  Sun Beibei1;  Fu Qidi1;  Liu Yanhao1
1School of Mechanical Engineering, Southeast University, Nanjing 211189, China
2School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin 541004, China
伍建伟1;  2;  孙蓓蓓1;  傅琪迪1;  刘彦豪1
1东南大学机械工程学院, 南京211189; 2桂林电子科技大学机电工程学院, 桂林541004
Keywords:
trajectory following;  autonomous vehicle;  feedforward control;  linear quadratic regulator(LQR)
路径跟踪;  无人驾驶;  前馈控制;  线性二次调节控制器
PACS:
U463.6
DOI:
10.3969/j.issn.1003-7985.2021.04.003
Abstract:
The current literature lacks uniform calculation methods for following trajectory control for autonomous vehicles, including the calculation of errors, determination of tracking points, and design of feedforward controllers. Hence, a complete calculation method is proposed to address this gap. First, a control equation in the form of an error is obtained according to the dynamic equation of the vehicle coordinate system and the trajectory following model. Secondly, the deviation of the vehicle state is obtained according to the current vehicle’s state and the following control model. Finally, a linear quadratic regulator(LQR)controller with feedforward control is designed according to the characteristics of the dynamic equation. With the proposed LQR, the simulation of computational time, anti-interference, and reliability analysis of the trajectory following control is performed by programming using MATLAB. The simulation outcomes are then compared with the experimental results from the literature. The comparison indicates that the proposed complete calculation method is effective, reliable, and capable of achieving real-time and anti-interference following control performance. The simulation results with or without feedforward control show that the steady-state error is eliminated and that good control performance is obtained by introducing feedforward control.
考虑到自动驾驶车辆的轨迹跟踪控制缺乏统一的计算方法, 特别是在误差计算、跟踪点确定和前馈控制器设计等方面, 提出了完整的路径跟踪控制计算方法.首先, 根据车辆坐标系的动力学方程和路径跟踪模型, 得到误差形式的控制方程.然后, 根据车辆当前的状态建立跟踪控制模型来获得车辆状态的偏差.最后, 根据动力学方程的特点, 设计了具有前馈控制的线性二次调节控制器.在此基础上, 采用MATLAB语言开发程序, 给出了仿真实例轨迹跟随控制的计算时间、抗干扰性和可靠性分析的仿真结果.通过与文献实验结果对比, 证明了所提出的计算方法是有效、可靠的, 能够实现实时抗干扰的跟踪控制性能.同时, 通过有无前馈的仿真结果表明, 引入前馈控制能够消除稳态误差, 获得更好的控制性能.

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Memo

Memo:
Biographies: Wu Jianwei(1989—), male, Ph. D. candidate; Sun Beibei(corresponding author), female, doctor, professor, bbSun@seu.edu.cn.
Foundation item: The National Key Research and Development Program of China(No. 2019YFB2006404), Guangxi Science and Technology Major Project(No. GUIKE AA18242036, No. GUIKE AA18242037).
Citation: Wu Jianwei, Sun Beibei, Fu Qidi, et al.Calculation method for trajectory following control for autonomous vehicles[J].Journal of Southeast University(English Edition), 2021, 37(4):356-364.DOI:10.3969/j.issn.1003-7985.2021.04.003.
Last Update: 2021-12-20