基于鲁棒比例-积分-微分控制的智能汽车自主换道轨迹跟踪控制

为了解决智能汽车自主换道轨迹跟踪所使用的比例-积分-微分(proportion-integral-derivative,PID)控制器参数难以整定的问题,提出应用于自主换道轨迹跟踪控制的鲁棒PID控制器设计方法。首先,构建车辆-道路系统动力学模型,将转向执行机构看作一阶惯性环节,搭建包括转向执行机构动力学模型在内的系统动力学模型;然后,基于分段多项式表达求解自主换道轨迹模型,并基于时间与误差绝对值乘积积分构建鲁棒PID控制器,确定控制参数,形成闭环系统的传递函数;最后,进行仿真及实车试验,结果表明,所设计的控制器具有较强的鲁棒性,能在保证换道工况下智能车辆较好的轨迹跟踪能力的同时,有效地提高乘员舒适性。

Autonomous Lane Change Trajectory Tracking Control for Intelligent Vehicles Based on Robust PID

In order to solve the problem that the parameters of PID controller used for autonomous lane change trajectory tracking of intelligent vehicles are difficult to be adjusted, this paper proposes a robust PID controller design method. Firstly, a vehicle-road system dynamic model is built, which takes the steering actuator as a first-order inertial link and includes the steering actuator dynamic model. Then, the autonomous lane change trajectory model is solved based on the piecewise polynomial. The robust PID controller is constructed based on the product integral of time and absolute error value to determine the control parameters and form the transfer function of the closed-loop system. Finally, simulation and real vehicle test are carried out. The simulation results show that the designed controller has strong robustness, which can ensure tracking ability of intelligent vehicles under lane changing conditions and effectively improve the comfort of passengers simultaneously