基于 Pareto 最优均衡理论的无人驾驶汽车
稳定跟踪控制研究

doi:10.16638/j.cnki.1671-7988.2023.015.012

汽车实用技术 ›› 2023, Vol. 48 ›› Issue (15): 65-72.DOI: 10.16638/j.cnki.1671-7988.2023.015.012

• 智能网联汽车 • 上一篇

基于 Pareto 最优均衡理论的无人驾驶汽车稳定跟踪控制研究

吴迪，郭鸣明，赵韩，张冰战，邱明明，孙国照

合肥工业大学汽车与交通工程学院

出版日期:2023-08-15 发布日期:2023-08-15
通讯作者: 吴迪
作者简介:吴迪（1987－），男，博士，研究方向为新能源汽车、智能汽车，E-mail:1125812253@qq.com。
基金资助:
中央高校基本科研业务费专项资金资助（PA2021GDSK0075）；中央高校基本科研业务费专项资金资助（PA 2021GDSK0076）。

Research on Stable Tracking Control Method of Autonomous Vehicle Based on Pareto Optimal Equilibrium Theory

WU Di, GUO Mingming, ZHAO Han, ZHANG Bingzhan, QIU Mingming, SUN Guozhao

School of Automotive and Transportation Engineering, Hefei University of Technology

Online:2023-08-15 Published:2023-08-15
Contact: WU Di

摘要/Abstract

摘要： 针对无人驾驶车辆在高速转弯工况下轨迹跟踪精度及稳定性下降的问题，通过将轨迹跟踪控制和稳定性控制视为动态博弈过程中的参与者，提出了一种基于 Pareto 最优均衡理论的轨迹跟踪与稳定性协同控制策略。首先，基于模型预测控制，设计了车辆轨迹跟踪控制及稳定性控制模型。其次，根据轨迹跟踪与稳定性控制的代价函数设计了全局代价函数，通过 Pareto 最优均衡理论对两者的权重进行动态博弈，在满足约束条件下实现目标任务全局性能最优。最后通过 Simulink & CarSim 建立联合仿真模型，在双移线工况下对所提方法进行对比验证。仿真结果表明，所提方法相较于定权重路径跟踪与稳定性协同控制器，能有效提升车辆轨迹跟踪控制精度并保证较好的行驶稳定性。

关键词: 无人驾驶车辆；轨迹跟踪；稳定性控制；Pareto 最优均衡

Abstract: Aiming at the lowering of the trajectory tracking accuracy and lateral stability, the trajectory tracking control and stability control are considered as the participants in the dynamic game process. Based on the Pareto optimal equilibrium theory, a cooperative control strategy of trajectory tracking and stability is proposed. Firstly, vehicle trajectory tracking control model and stability control model are designed based on the model predictive control algorithm. Secondly, the global cost function is designed according to the cost function of trajectory tracking and stability control. The Pareto optimal equilibrium theory is used to game the weights of the trajectory tracking and stability control for the global optimization. In the end, Simulink/CarSim joint simulation is conducted with a result showing that compared with fixed weight path tracking and stability cooperative controller, the proposed method can improve the accuracy of the vehicle trajectory tracking and driving stability.

Key words: Autonomous vehicle; Trajectory tracking; Stability control; Pareto optimal equilibrium

吴迪. 基于 Pareto 最优均衡理论的无人驾驶汽车稳定跟踪控制研究[J]. 汽车实用技术, 2023, 48(15): 65-72.

WU Di. Research on Stable Tracking Control Method of Autonomous Vehicle Based on Pareto Optimal Equilibrium Theory[J]. Automobile Applied Technology, 2023, 48(15): 65-72.

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基于 Pareto 最优均衡理论的无人驾驶汽车稳定跟踪控制研究

Research on Stable Tracking Control Method of Autonomous Vehicle Based on Pareto Optimal Equilibrium Theory

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基于 Pareto 最优均衡理论的无人驾驶汽车稳定跟踪控制研究