Abstract: To solve the problem that the return angle of vehicle regression point and the tangential angle of predetermined trajectory were not considered in the yaw control process of the self-driving vehicle,a yaw control method for autonomous vehicles considering return angle was proposed.The planned trajectory curve was processed to obtain the curvature and steering angle of each point of trajectory.The vehicle yaw model was designed according to the concavity and convexity of curve,and the compensation amount of steering angle was calculated.The speed tracking control model was designed to ensure that the vehicle returned at the maximum allowable speed,and the speed compensation was calculated.The simulation model was built and simulated in MATLAB/Simulink.The results showed that the proposed yaw control method could make the yaw vehicle return quickly under three conditions of straight path,circular path and random path.The position error could meet the accuracy requirement and the real-time regression.

Key words: autonomous vehicle, yaw control, model design, return angle

摘要： 为解决自动驾驶车辆偏航控制过程中没有考虑车辆回归点回归航向角与预定轨迹切线角度重合问题,提出一种考虑回归航向角的自动驾驶车辆偏航控制方法。对规划的轨迹曲线进行处理得到轨迹各点的曲率和转向角,根据曲线的凹凸性设计了车辆偏航模型,并计算出转向角的补偿量;设计了速度跟踪控制模型,从而保证车辆以最大允许速度回归,计算速度补偿量,最后在MATLAB/Simulink中搭建了仿真模型并进行了仿真。结果表明,所提出的偏航控制方法可以使得偏航车辆在直线路径、圆形路径以及随机路径3个工况下迅速回归,位置误差可以达到精度要求,且满足回归实时性。

关键词: 自动驾驶车辆, 偏航控制, 模型设计, 航向角