文章编号：1009−444X（2022）04−0398−07基于道路边界约束的车辆横纵向控制马思群，王兆强，赵佳伟，韩博（上海工程技术大学机械与汽车工程学院,上海201620）摘要：为提高自动驾驶车辆对不同道路的适应性和跟踪稳定性，提出一种基于道路边界约束和双比例−积分−微分(PID)的横纵向轨迹跟踪方法.基于道路边界约束，求出使车辆安全行驶的转向曲率，结合二自由度动力学模型计算安全行驶转向角.该方法计算简单，且最远预瞄点由道路的宽度及曲率信息自主确定.通过仿真试验，制作车辆加速度、速度、油门和刹车的标定关系表，并基于标定表设计双PID速度跟踪控制器.最后通过Carsim−Simulink联合仿真，证明横纵向控制器可以安全地行驶在道路范围内，并有良好的跟踪精度和稳定性.关键词：路径跟踪；PID控制；车辆动力学中图分类号：U270文献标志码：AVehiclelateralandlongitudinalcontrolbasedonroadboundaryconstraintsMASiqun，WANGZhaoqiang，ZHAOJiawei，HANBo（SchoolofMechanicalandAutomotiveEngineering,ShanghaiUniversityofEngineeringScience,Shanghai201620,China）Abstract：Inordertoimprovetheadaptabilityandtrackingstabilityofautonomousvehiclestodifferentroads,alateralandlongitudinaltrajectorytrackingmethodbasedonroadboundaryconstraintsanddualproportional-integral-derivative(PID)wasproposed.Basedontheroadboundaryconstraints,thesteeringcurvatureforsafedrivingwasobtained,andthenthesafedrivingsteeringanglewascalculatedbycombiningthetwo-degree-of-freedomdynamicmodel.Themethodissimpletocalculate,andthefarthestpreviewpointisdeterminedautonomouslybythewidthandcurvatureinformationoftheroad.Throughthesimulationtest,thecalibrationrelationshiptableofvehicleacceleration,speed,acceleratorandbrakeweremade,andadual-PIDspeedtrackingcontrollerwasdesignedbasedonthecalibrationtable.Finally,throughtheCarsim-Simulinkco-simulation,itisprovedthatthelateralandlongitudinalcontrollercansafelydrivewithintheroadrange,andhasgoodtrackingaccuracyandstability.Keywords：pathtracking；proportional-integral-derivative(PID)control；vehicledynamics自动驾驶已经成为汽车未来发展的主要方向[1−2]，其在提高驾驶舒适度和安全性方面有巨大的潜力.轨迹跟踪是实现自动驾驶的关键技术，对此...
