The invention discloses an unmanned vehicle path tracking control method based on a nonlinear tire and a driver model. A model predictive control (MPC) method is adopted, a two-point preview driver mode is considered in the MPC, a near point is used for acquiring position deviation information of an unmanned vehicle, a far point is used for acquiring curvature information of a far road, five characteristic parameters are used for describing the manipulation proficiency of a driver, and the rotating angle of a driver model is used as the state quantity and the output quantity of a controller. The considered nonlinear tire model adopts a magic formula tire model, and the tire force is expressed by using a composite function relational expression, so that the situation that the tracking effect becomes poor due to error accumulation is avoided. The tracking performance and the physiological and psychological load intensity of the driver are considered in the target function, so that the overall performance of the controller is optimized. The control method provided by the invention can further improve the tracking performance of an unmanned vehicle, so that the unmanned vehicle can meet more complex and realistic traffic scenes.
本发明公开了一种基于非线性轮胎和驾驶员模型的无人车路径跟踪控制方法,采用模型预测控制(MPC)方法,在MPC中考虑的两点预瞄驾驶员模型,近点用于获取无人车的位置偏差信息,远点用于获取远方的道路曲率信息,用五个特征参数来描述驾驶员的操纵熟练度,并将驾驶员模型转角作为控制器的状态量和输出量。所考虑的非线性轮胎模型采用魔术公式轮胎模型,用复合函数关系式表达轮胎力,避免因误差积累导致跟踪效果变差。在目标函数中考虑了跟踪性能、驾驶员的生理和心理负荷强度进而对控制器的整体性能进行优化。本发明提出的控制方法能够进一步提高无人驾驶汽车的跟踪性能,使得无人驾驶汽车能够满足更加复杂和现实的交通场景。
Unmanned vehicle path tracking control method based on nonlinear tire and driver model
基于非线性轮胎和驾驶员模型的无人车路径跟踪控制方法
2021-10-01
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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