A Path Following Lateral Control Scheme for Four-Wheel Independent Drive Autonomous Vehicle Using Sliding Mode Prediction Control
A Path Following Lateral Control Scheme for Four-Wheel Independent Drive Autonomous Vehicle Using Sliding Mode Prediction Control
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DOI：
10.1109/tte.2022.3170059
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发表时间：
2022-09-01
影响因子：
7
通讯作者：
Qie, Tianqi
中科院分区：
文献类型：
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作者：
Wang, Weida;Ma, Taiheng;Qie, Tianqi
四轮独立驱动自动驾驶汽车（4WIDAV）在路径跟随过程中不断受到参数波动、建模误差和外界干扰等不确定性的影响。如果这些不确定因素处理不当，4WIDAV可能会偏离预期路径，甚至变得不稳定。针对这一问题，提出了一种基于修正滑模预测控制（SMPC）的4WIDAV路径跟随横向控制方案。首先，建立了SMPC框架，将预测过程引入滑模动态轨迹逼近过程中，以缓解滑模动态轨迹的抖振现象；其次，在SMPC框架的预测过程中引入了包含建模误差、参数波动和外部干扰的集总不确定性项。通过扩展状态观测器（ESO）实现上述集总不确定性的精确估计。第三，设计了基于胎力观测的转矩分配方法，保证了4WIDAV的行驶稳定性。最后，通过仿真和实验验证了所提方案的有效性。仿真和实验结果表明，与现有控制方法相比，所提控制方案的跟踪性能分别提高了69.4%和52.8%。因此，该方案可为自动驾驶车辆的路径跟随横向控制提供理论参考。
Four-wheel independent drive autonomous vehicle (4WIDAV) is constantly influenced by uncertainties, including parameter fluctuation, modeling error, and external disturbance during the path following process. If those uncertainties are not handled properly, 4WIDAV may deviate from the desired path or even become unstable. Motivated by this issue, a path following lateral control scheme based on modified sliding mode prediction control (SMPC) is proposed for 4WIDAV. First, an SMPC framework is built, which introduces the prediction process into the approaching process of sliding mode dynamic trajectory to alleviate the chattering phenomenon. Second, a lumped uncertainty term containing the modeling error, parameter fluctuation, and external disturbance is introduced in the prediction process of the SMPC framework. The accurate estimation of lumped uncertainty aforementioned is realized through an extended state observer (ESO). Third, the torque distribution method based on tire force observation is designed to ensure the driving stability of the 4WIDAV. Finally, typical driving maneuvers are performed in simulations and experiments to verify the effectiveness of the proposed scheme. Compared with the existing methods, the proposed control scheme can improve the tracking performance up to 69.4% and 52.8% in simulation and experiment, respectively. Therefore, the proposed scheme can be used as a theoretical reference for path following lateral control of autonomous vehicle.