低速自动驾驶横向跟踪控制研究

为了提高低速自动驾驶车辆在不同工况下横向跟踪控制的性能，设计了一款基于纯跟踪(PP)控制和模型预测控制(MPC)的联合控制器。当位姿偏差较大时，切换为PP控制；当位姿偏差较小且满足MPC约束时，切换为MPC；同时为了保证2种控制实现平滑的切换，设计了模式切换控制器。针对上述联合控制器进行了仿真对比分析与实车验证，结果表明：联合控制相较于MPC，跟踪的快速性、稳定性明显优化；与PP控制相比，控制的精度明显提高，且模式切换控制器的加入使切换过程的鲁棒性得到优化。

Lateral Tracking Control of Low Speed Automatic Driving

In order to improve the lateral tracking control performance of low speed autonomous vehicle under different conditions, a joint controller based on pure pursuit (PP) control and model predictive control (MPC) is designed. When the deviation of position and direction are large, it is switched to PP control. When the deviation of position and direction are small and the MPC constraint is satisfied, it is switched to MPC. At the same time, a mode switching controller is designed to ensure smooth switching between the two kinds of control systems. The simulation analysis and real vehicle test are carried out for the joint controller. The test results show that, compared with MPC, the speediness and stability of the tracking of the joint controller are optimized obviously and compared with PP control, the accuracy of the tracking is also improved obviously. The addition of mode switching controller improves the robustness of the switching process.