张家旭 ,周时莹 ,赵 健 ,施正堂
AuthorsHTML:张家旭 ^{1, 2}，周时莹 ² ，赵 健 ¹ ，施正堂 ³
AuthorsListE:Zhang Jiaxu,Zhou Shiying,Zhao Jian,Shi Zhengtang
AuthorsHTMLE:Zhang Jiaxu^{1, 2}，Zhou Shiying²，Zhao Jian¹，Shi Zhengtang³
Unit:1. 吉林大学汽车仿真与控制国家重点实验室，长春 130022；
2. 中国第一汽车集团有限公司智能网联研发院，长春 130011；
3. 浙江亚太机电股份有限公司智能汽车控制系统研究院，杭州 311200

Unit_EngLish:1. State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China；
2. Intelligent Network R&D Institute，China FAW Group Co.，Ltd.，Changchun 130011，China；
3. Intelligent Vehicle Control System Research Institute，Zhejiang Asia-Pacific Mechanical and Electronic Co.，Ltd.， Hangzhou 311200，China

Abstract_Chinese:针对汽车弯道超车路径规划与跟踪控制问题，提出了一种基于高斯伪谱法的汽车弯道超车路径规划算法， 以及基于干扰观测器的汽车弯道超车路径跟踪控制策略．首先，综合考虑本车动力学约束和路径曲率约束，基于本 车和前方低速行驶汽车的运动学方程将汽车弯道超车路径规划问题描述为约束最优化问题，并采用高斯伪谱法将其 转化为非线性规划问题进行求解．随后，为了使汽车在复合干扰存在的情况下依然可以快速、准确和稳定地跟踪基 于高斯伪谱法规划出的弯道超车路径，利用径向基神经网络对未知非线性函数的无限逼近能力设计干扰观测器来进 行在线估计和前馈补偿复合干扰，并采用李雅普诺夫稳定理论推导出具有一致最终有界特征的汽车弯道超车路径跟 踪控制策略．最后，在 Matlab/Simulink 环境下构建模型在环仿真系统，验证所提出的汽车弯道超车路径规划算法与 跟踪控制策略的可行性和有效性，结果表明：所提出的汽车弯道超车路径规划算法与跟踪控制策略可以引导本车在 两个转向相同、半径不同的圆曲线之间平滑切换，使本车安全、舒适地超越前方低速行驶的汽车．
Abstract_English:To address the path planning and tracking control problems associated with the corner overtaking of a vehicle，in this paper，we propose a path planning algorithm based on the Gauss pseudo-spectral method and a path tracking control strategy based on the disturbance observer approach. First，considering the constraints of the vehicle dynamics and path curvature，we describe the path planning problem for the corner overtaking of a vehicle as a con\u0002strained optimization problem. To do so，we utilize the kinematic equations of the vehicle and the low-speed vehicle in front of it，and use the Gauss pseudo-spectral method to transform the constrained optimization problem into a nonlinear programming problem，the solution of which is the planned path for the corner overtaking of the vehicle. Then，to track the planned path quickly，accurately，and stably in the presence of lumped uncertainties，a distur\u0002bance observer is designed based on the approximation ability of a radial-basis-function neural network to estimate and compensate for the lumped uncertainties. A path-tracking control strategy uniformly ultimately bounded is derived based on the Lyapunov stability theory. Finally，we built a model in a loop simulation system in the Matlab/Simulinkenvironment to verify the feasibility and effectiveness of the proposed path planning algorithm and path-tracking control strategy. The simulation results show that the proposed algorithm and strategy can guide the vehicle to smoothly switch between two circular curves with the same turning direction and different radii，and safely and comfortably guide the vehicle beyond the low-speed vehicle in front of it.
Keyword_Chinese:车弯道超车；路径规划与跟踪控制；高斯伪谱法；干扰观测器；一致最终有界稳定
Keywords_English:corner overtaking of vehicle；path planning and tracking control；Gauss pseudo-spectral method； disturbance observer；uniformly ultimately bounded stability

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