基于安全屏障监控的车道自动保持控制
|
摘要
针对车道保持控制在实现平稳转向中如何保证安全性的问题,本文中提出一种由安全屏障监控的预览车道保持控制方法。该预览控制器利用跟踪误差和未来车道曲率,在一个有限的预览窗口生成转向指令;然后设计一个安全保护控制器来保证有界误差,当且仅当跟踪误差接近安全边界时,安全屏障控制启动并进行转向干预。本文中提出的控制算法规模小,计算时间短,可以提升在线求解的运算效率。为验证控制算法的有效性,进行了相关仿真和道路实验。仿真和实验结果表明,所提出的安全屏障监控和预览控制能够实现车辆安全和车道保持的协同控制,具有一定的优越性。
For the problem of how to guarantee the safety of lane keeping control in realizing stable steering, this paper proposes a method of preview lane keeping control which is monitored by safety barrier. Using tracking error and future lane curvature, the preview controller generates steering instructions in a limited preview window, and then designs a safety protection controller to guarantee the bounded error. When and only when the tracking error is close to the safety boundary, the safety barrier control is activated and carries out steering intervention. The control algorithm proposed in this paper is small in scale and less in calculation time, which can improve the operation efficiency of online solution. In order to verify the effectiveness of the control algorithm, the related simulation and road experiments are carried out. The simulation and experimental results show that the proposed safety barrier monitoring and preview control can achieve coordinated control of vehicle safety and lane keeping, showing certain advantages.
For the problem of how to guarantee the safety of lane keeping control in realizing stable steering, this paper proposes a method of preview lane keeping control which is monitored by safety barrier. Using tracking error and future lane curvature, the preview controller generates steering instructions in a limited preview window, and then designs a safety protection controller to guarantee the bounded error. When and only when the tracking error is close to the safety boundary, the safety barrier control is activated and carries out steering intervention. The control algorithm proposed in this paper is small in scale and less in calculation time, which can improve the operation efficiency of online solution. In order to verify the effectiveness of the control algorithm, the related simulation and road experiments are carried out. The simulation and experimental results show that the proposed safety barrier monitoring and preview control can achieve coordinated control of vehicle safety and lane keeping, showing certain advantages.
引文
[1] BURNS L D.Sustainable mobility:a vision of our transport future[J].Nature,2013,48(497):181-183.
[2] XU S,PENG H.Design and comparison of fuel-saving speed planning algorithms for automated vehicles[J].IEEE ACCESS,2018,32(6):9070-9080.
[3] RAKSINCHAROENSAK P,NAGAI M,SHINO M.Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle[J].Vehicle System Dynamics,2016,17(44):192-201.
[4] CHAIB S,NETTO M,MAMMAR S.H∞,adaptive,PID and fuzzy control:a comparison of controllers for vehicle lane keeping[C].Intelligent Vehicles Symposium,IEEE,2014.
[5] MARINO R,SCALZI S,NETTO M.Nested PID steering control for lane keeping in autonomous vehicles[J].Control Engineering Practice,2017,12(19):1459-1467.
[6] SURYANARAYANAN S,TOMIZUKA M,SUZUKI T.Design of simultaneously stabilizing controllers and its application to fault-tolerant lane-keeping controller design for automated vehicles[J].IEEE Trans on Control Systems Technology,2016,3(12):329-339.
[7] PENG H.Vehicle lateral control for highway automation[D].UC Berkeley,2012.
[8] RAJAMANI R.Vehicle dynamics and control[J].New York:Springer Science & Business Media,2017,9(3):20-31.
[9] XU S,PENG H.DESIGN,analysis,and experiments of preview path tracking control for autonomous vehicles[C].IEEE/ASME Trans.on Mechatronics,2017:1995-1998.
[10] XU S,LI K,DENG S,et al.A unified pseudospectral computational framework for optimal control of road vehicles[C].IEEE/ASME Transactions on Mechatronics,2015,1499-1510.
[11] TOMIZUKA M.The optimal finite preview problem and its application to mari-machine systems[D].Mass.Inst.of Tech,Cambridge,MA,2010.
[12] AMES A D,GRIZZLE J W,TABUADA P.Control barrier function based quadratic programs with application to adaptive cruise control[C].Proc.53rd IEEE Conf.Decision Control,2014:6271-6278.
[2] XU S,PENG H.Design and comparison of fuel-saving speed planning algorithms for automated vehicles[J].IEEE ACCESS,2018,32(6):9070-9080.
[3] RAKSINCHAROENSAK P,NAGAI M,SHINO M.Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle[J].Vehicle System Dynamics,2016,17(44):192-201.
[4] CHAIB S,NETTO M,MAMMAR S.H∞,adaptive,PID and fuzzy control:a comparison of controllers for vehicle lane keeping[C].Intelligent Vehicles Symposium,IEEE,2014.
[5] MARINO R,SCALZI S,NETTO M.Nested PID steering control for lane keeping in autonomous vehicles[J].Control Engineering Practice,2017,12(19):1459-1467.
[6] SURYANARAYANAN S,TOMIZUKA M,SUZUKI T.Design of simultaneously stabilizing controllers and its application to fault-tolerant lane-keeping controller design for automated vehicles[J].IEEE Trans on Control Systems Technology,2016,3(12):329-339.
[7] PENG H.Vehicle lateral control for highway automation[D].UC Berkeley,2012.
[8] RAJAMANI R.Vehicle dynamics and control[J].New York:Springer Science & Business Media,2017,9(3):20-31.
[9] XU S,PENG H.DESIGN,analysis,and experiments of preview path tracking control for autonomous vehicles[C].IEEE/ASME Trans.on Mechatronics,2017:1995-1998.
[10] XU S,LI K,DENG S,et al.A unified pseudospectral computational framework for optimal control of road vehicles[C].IEEE/ASME Transactions on Mechatronics,2015,1499-1510.
[11] TOMIZUKA M.The optimal finite preview problem and its application to mari-machine systems[D].Mass.Inst.of Tech,Cambridge,MA,2010.
[12] AMES A D,GRIZZLE J W,TABUADA P.Control barrier function based quadratic programs with application to adaptive cruise control[C].Proc.53rd IEEE Conf.Decision Control,2014:6271-6278.