基于曲率控制的紧急避让路径跟踪研究

针对紧急避让工况,提出一种基于曲率控制的路径跟踪控制方法。以车辆二自由度动力学模型为基础,设计基于曲率控制的二阶自抗扰路径跟踪控制器,采用前馈与反馈相结合的复合控制方法进行曲率跟踪控制。为了解决避让过程中侧向加速度过大或产生阶跃、曲率不连续问题,引入三次B样条曲线进行路径跟踪曲率规划,采用CarSim/Simulink联合仿真方法进行控制器性能验证。仿真结果表明,在对接和对开路面工况下,基于曲率控制的路径跟踪控制器能够保证车辆实际行驶路径曲率跟踪理想路径曲率,抵抗外界干扰能力强。

Research on Path Tracking for Emergency Collision Avoidance Based on Curvature Control

This paper presentes a path tracking method based on curvature control for emergency collision avoidance.The second order Active Disturbance Rejection Control(ADRC)path tracking controller is built based on the two degrees of freedom vehicle dynamic model.In addition,the feedforward controller is combined with the feedback controller to control the path curvature.In order to eliminate the defects of traditional evasive collision avoidance process such as high lateral acceleration and discontinuous curvature,the cubic B-spline curve is introduced for path tracking curvature planning,and co-simulation using CarSim and Simulink is adopted to verify controller performance.The simulation results show that the curvature control based path track controller can ensure vehicle actual driving path curvature follow the ideal path curvature and has ability to resist external interference under the operation conditions of opposite andμ-split roads.