紧急避让路径跟踪自抗扰控制

Path Tracking for Evasive Collision Avoidance Based on Active Disturbance Rejection Control

摘要:

自动紧急避让作为一种辅助驾驶系统，能够提高汽车行驶的安全性.为了提高不同质量参数、不同轴距车辆路径跟踪性能，以二自由度车辆模型为基础，设计二阶自抗扰控制器.车辆模型参数变化可以通过三阶扩张状态观测器进行观测和补偿.针对避让过程存在侧向加速度过大或产生阶跃、曲率不连续问题，引入三次B样条曲线对避让路径进行再规划.采用软件Carsim与Simulink联合仿真方法进行控制器性能验证.仿真结果表明，基于自抗扰方法设计的紧急避让路径跟踪控制器能够保证不同车型车辆很好地跟踪规划的轨迹，保证车辆稳定性.

关键词:路径跟踪; 自抗扰控制; 紧急避让; 联合仿真

Abstract:

The automatic evasive collision avoidance system can promote the vehicle driving safety. A robust path tracking controller based on the active disturbance rejection control algorithm was proposed to improve the path tracking performance of vehicles with different mass parameters and different wheelbase parameters. The change of vehicle model parameters can be observed and compensated by the third order extended state observer. The cubic B spline was used to solve the curvature discontinuity and high lateral acceleration problems in path planning. Carsim and Simulink were used to verify the effectiveness of the proposed path tracking controller. The simulation results show that the proposed controller can control different vehicles to follow the predesigned evasive path very well, which can guarantee the stability of vehicles.

Key words:path tracking; active disturbance rejection control; evasive collision avoidance; cosimulation