智能车辆换道与超车轨迹跟踪控制

智能车辆换道过程中须同时考虑车辆的横向控制和纵向控制,为实现智能车辆对预定轨迹的稳定跟踪,根据智能车辆的车辆运动学简化模型,建立基于刚体的车辆模型.选取车辆当前位姿和参考位姿构造动态的位姿误差.建立智能车辆轨迹跟踪闭环控制系统的状态空间数学模型.基于Backstepping控制算法选取Lyapunov函数设计智能车辆换道及超车轨迹跟踪控制器.仿真和试验结果表明,所设计的控制器能够快速跟踪参考轨迹.控制器在智能车辆换道及超车控制过程中平稳、可靠.

Lane Changing and Overtaking Control Method for Intelligent Vehicle Based on Backstepping Algorithm

To guarantee intelligent vehicle (IV) track preconcerted trajectory steadily, according to IV's simplified model of kinematics, IV model that based on rigid body model was established firstly. Then current and reference posture to develop the dynamic posture error of IV were selected. And state space mathematics model of IV has been constructed to track trajectory closed loop control system by the adopted posture error. Based on Backstepping control algorithm, Lyapunov function has been chosen and controller for IV lane changing and overtaking was designed. Simulation and experiment result showed that the controller designed by this method could track preconcerted trajectory quickly, it is steady and reliable during IV's lane changing and overtaking control course.