融合道路曲率前馈的车辆横向控制策略

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关键词：曲率前馈；横向控制策略；车辆模型建模；横摆稳定性；时域优化中图分类号：U463.6DOI：10.3969/j.issn.1004-132X.2025.11.036

Abstract：Aiming at the problems of low tracking accuracy of autonomous vehicles in the road with large curvature curves，the influences of road curvature on the lateral control strategy were focused，the lateral control strategy was improved and optimized based on the traditional model predictive control（MPC） algorithm from three aspects of vehicle model modeling，yaw stability and time domain optimization，respectively. The road curvature was integrated into the vehicle model，and an error dynamics model with curvature feedforward was established.And then，a lateral control strategy was designed based on curvature feedforward MPC algorithm.Then，a lateral stability constraint consisting of lateral vehicle speed and steady-state lateral angular velocity was added to the strategy to enhance the lateral stability of the vehicles under high curvature conditions.A MAP map was established based on genetic algorithm to optimize the prediction and control time domains of the strategy，taking into account the relationships among vehicle speed，road curvature and time domain. Simulation analysis was conducted，and the results show that the improved lateral control strategy may effectively improve the path tracking precision and lateral stability of the vehicles. Finally，the efectivenesses of the curvature feedforward MPC strategy were verified through real vehicle road tests.

Key words： curvature feedforward; lateral control strategy； vehicle model modeling； yaw stability;time domain optimization

0 引言

横向控制策略主要分为基于几何学和基于反馈的两类方法。（剩余11846字）