Combined Control Method of Intelligent Vehicle Longitudinal and Lateral Motion

doi:10.3969/j.issn.1674-0696.2021.04.20

Abstract

Abstract: Aiming at the multiple complex dynamic constraints and performance requirements in intelligent vehicle motion control, a lateral and longitudinal control combined method based on model predictive control (MPC) was proposed, and the lateral and longitudinal controllers were designed respectively. The lateral controller was based on the monorail dynamic model and the longitudinal controller adopted the hierarchical control structure. Taking the longitudinal velocity as the coupling point, the lateral and longitudinal controllers were combined. According to the path information, the vehicle speed was planned, and the steering and speed were controlled at the same time. Finally, the co-simulation was carried out by CarSim and MATLAB. The test results show that the controller has good tracking performance, strong real-time performance and can meet the requirements of vehicle lateral stability, comfort and ride comfort.

Key words: vehicle engineering, lateral and longitudinal control, MPC, simulation

摘要： 针对智能车辆运动控制中的多种复杂动力学约束及性能需求，提出基于模型预测控制算法的横纵向综合控制方法，分别设计横向和纵向控制器。横向控制器基于单轨动力学模型，纵向采用分层控制结构，以纵向速度为耦合点结合横向和纵向控制器，并根据路径信息规划车辆行驶速度，实现转向和速度同时控制，最后通过Carsim和MATLAB联合仿真。研究结果表明：控制器具有良好的跟踪性能，实时性强，且能够满足车辆横向稳定性、舒适性和平顺性等要求。

关键词: 车辆工程, 横纵向控制, 模型预测控制, 仿真

CLC Number:

DENG Tao1, LI Xin2. Combined Control Method of Intelligent Vehicle Longitudinal and Lateral Motion[J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(04): 133-140.

邓涛1，李鑫2. 智能车辆横纵向运动综合控制方法研究[J]. 重庆交通大学学报（自然科学版）, 2021, 40(04): 133-140.

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