Research on Intelligent Automobile Trajectory Tracking Control Method Based on VUFAMPC

doi:10.12382/bgxb.2025.0023

Abstract

Abstract:

To improve the real-time and adaptive performance of intelligent automobile trajectory tracking,a variable universe fuzzy adaptiv model predictive control (VUFAMPC) method is proposed.The strong tracking square root cubature Kalman filter (ST-SRCKF) algorithm is used to estimate the lateral force of tire to obtain the real-time tire lateral stiffness values.And then,based on the traditional model predictive control method of trajectory tracking,a variable universe fuzzy control (VUFC) method is used to design a variable universe fuzzy model predictive controller (VUFMPC),and the estimated tire lateral stiffness is used as the parameter for VUFMPC to achieve the adaptive correction of controller parameters by combing it with ST-SRCKF algorithm,thereby obtaining VUFAMPC.Last,the comparative analysis and verification are made through hardware-in-the-loop experiment.The experimental result show that,compared to FMPC and AMPC,the overshoot of VUFAMPC is reduced by 11.1% and 18.8%,and the transition time is reduced by 46.6% and 67.9%.The trajectory tracking test shows that,compared to FMPC、VUFMPC and AMPC,the maximum tracking error of VUFAMPC is optimized by 73.9%,68.7% and 24.8%,and the average tracking error is optimized by 72.3%,56.1%,28%.The conclusion indicates that VUFAMPC has better real-time and adaptive performance,while effectively balancing the trajectory tracking accuracy and driving stability of intelligent automobile.

Key words: intelligent automobile, trajectory tracking, variable universe, adaptive, predictive control

CLC Number:

HE Yang, LI Gang, JI Fengbiao, ZHOU Junpeng. Research on Intelligent Automobile Trajectory Tracking Control Method Based on VUFAMPC[J]. Acta Armamentarii, 2025, 46(11): 250023-.

Figures/Tables 23

References 26

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估计方法及参考值	附着系数	轮胎力	最大值 /N	均值 /N	RMSE
SRCKF	0.85	F_y_fL	6114	1868	9.59
		F_y_fR	5549	1719	9.83
		F_y_rL	4031	1085	10.69
		F_y_rR	3751	1032	11.24
	0.85~0.45	F_y_fL	6062	1703	15.01
		F_y_fR	5456	1704	15.26
		F_y_rL	4095	1085	17.23
		F_y_rR	3944	1071	17.41
ST-SRCKF	0.85	F_y_fL	5973	1856	4.50
		F_y_fR	5419	1737	4.81
		F_y_rL	4095	1084	4.53
		F_y_rR	3715	1069	4.87
	0.85~0.45	F_y_fL	5906	1784	6.03
		F_y_fR	5343	1715	6.16
		F_y_rL	3962	1104	6.33
		F_y_rR	3623	1053	6.46
参考值		F_y_fL	5825	1831
		F_y_fR	5337	1765
		F_y_rL	4073	1001
		F_y_rR	3717	1046

估计方法及参考值	附着系数	轮胎力	最大值 /N	均值 /N	RMSE
SRCKF	0.85	F_y_fL	6114	1868	9.59
		F_y_fR	5549	1719	9.83
		F_y_rL	4031	1085	10.69
		F_y_rR	3751	1032	11.24
	0.85~0.45	F_y_fL	6062	1703	15.01
		F_y_fR	5456	1704	15.26
		F_y_rL	4095	1085	17.23
		F_y_rR	3944	1071	17.41
ST-SRCKF	0.85	F_y_fL	5973	1856	4.50
		F_y_fR	5419	1737	4.81
		F_y_rL	4095	1084	4.53
		F_y_rR	3715	1069	4.87
	0.85~0.45	F_y_fL	5906	1784	6.03
		F_y_fR	5343	1715	6.16
		F_y_rL	3962	1104	6.33
		F_y_rR	3623	1053	6.46
参考值		F_y_fL	5825	1831
		F_y_fR	5337	1765
		F_y_rL	4073	1001
		F_y_rR	3717	1046

de_y	e_y
de_y	正				负
正	ψ<ψ_ref	e_y ↑	τ_Q ↑	τ_R↑	ψ>ψ_ref	e_y ↓	τ_Q ↑	τ_R ↓
负	ψ<ψ_ref	e_y ↓	τ_Q↑	τ_R↓	ψ>ψ_ref	e_y ↑	τ_Q↑	τ_R ↑

de_y	e_y
de_y	正				负
正	ψ<ψ_ref	e_y ↑	τ_Q ↑	τ_R↑	ψ>ψ_ref	e_y ↓	τ_Q ↑	τ_R ↓
负	ψ<ψ_ref	e_y ↓	τ_Q↑	τ_R↓	ψ>ψ_ref	e_y ↑	τ_Q↑	τ_R ↑

τ_Q/τ_R		e_y
τ_Q/τ_R		NB	NM	NS	ZO	PS	PM	PB
de_y	NB	PB/PB	PM/PB	PS/PB	ZO/PB	PS/PB	PM/PB	PB/PB
	NM	PB/PM	PM/PM	PS/PM	ZO/PM	PS/PM	PM/PM	PB/PM
	NS	PB/PS	PM/PS	PS/PS	ZO/PS	PS/PS	PM/PS	PB/PS
	ZO	PB/PS	PM/PS	PS/ZO	ZO/ZO	PS/ZO	PM/PS	PB/PS
	PS	PB/PS	PM/PS	PS/PS	ZO/PS	PS/PS	PM/PS	PB/PS
	PM	PB/PM	PM/PM	PS/PM	ZO/PM	PS/PM	PM/PM	PB/PM
	PB	PB/PB	PM/PB	PS/PB	ZO/PB	PS/PB	PM/PB	PB/PB