Path Tracking Control of High-speed 4WID-4WIS Autonomous Vehicle
RUAN Jiuhong1,2,3, LI Yibin2, YANG Fuguang1, RONG Xuewen2
1. Advanced Vehicle & Robot Institute, Shandong Jiaotong University, Jinan 250023, China;
2. Shandong University Center for Robotics, Jinan 250061, China;
3. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
Every wheel of the high-speed four-wheel-independent-drive & steering(4WID-4WIS) autonomous vehicle has its own independent suspension system,and can be driven,braked and steered independently.Firstly,the path tracking control problem of the autonomous vehicle is illustrated at geometry and kinematics levels,and combined with nonlinear Burckhardt tire model,the second-order dynamic models for autonomous vehicle's path tracking are built.Secondly,the path tracking coordinate control architecture of the autonomous vehicle is proposed.The decoupled controllers of the three kinematic channels,the longitudinal velocity,the lateral displacement and the yaw angle motion of the path tracking,are designed based on the active disturbance rejection control(ADRC) method.And the tire model based control allocation solver is subsequently designed by nonlinear programming.The parameter-error-induced control disturbance is then discussed.Lastly, the double-lane-changing path tracking simulations with big acceleration are done.The results show that the 4WID-4WIS autonomous vehicle can track the path rapidly and accurately,and the validity of the proposed path tracking control method is proved.
 Zhuang D J,Liu J,Yu F,et al.Study and evaluation of drivervehicle system with fractional order PDu controller[C]// IEEE,International Conference on Vehicular Electronics and Safety,Piscataway,NJ,USA:IEEE,2006:434-439. Moriwaki K.Autonomous steering control for electric vehicles using nonlinear state feedback H∞ control[J].Nonlinear Analysis,Theory,Methods and Applications,2005,63(5/6/7):e2257-e2268. 陈无畏,李进,王檀彬,等.视觉导航智能车辆的路径跟踪预瞄控制[J].机械工程学报,2008,44(10):277-282.Chen W W,Li J,Wang T B,et al.Preview control for road following of vision guided intelligent vehicle[J].Chinese Journal of Mechanical Engineenng,2008,44(10):277-282. Ono E,Hattori Y,Muragishi Y.Estimation of tire friction circle and vehicle dynamics integrated control for four-wheel distributed steering and four-wheel distributed traction/braking systems[J].R&D Review of Toyota CRDL,2005,40(4):7-13. 李道飞,喻凡.基十最优轮胎力分配的车辆动力学集成控制[J].上海交通大学学报,2008,42(6):887-891.Li D F,Yu F,Integrated vehicle dynamics controller design based on optimum tire force distribution[J].Journal of Shanghai Jiaotong University,2008,42(6):887-891. 韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2009.Han J Q.Active disturbance rejection control technique:Technique for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2009. 刘围福,张,王跃科,等.一种基于模型的最佳滑移率计算方法[J].公路交通科技,2007,21(7):111-114.Liu G F,Zhang Q,Wang Y K,et al.Study of calculation of model-based optimal slip ratio[J].Journal of Highway and Transportation Research and Development,2004,21(7):111-114. 韩京清.从PID技术到"自抗扰控制"技术[J].控制工程,2002,9(3):13-18.Han J Q.From PID technique to active disturbances rejection control technique[J].Control Engineering of China,2002,9(3):13-18. Gao Z Q.Scaling and bandwidth-parameteization based controller tuning[C]//American Control Conference.2003:4989-4996.