无人驾驶越野车辆纵向速度跟踪控制试验

An experimental research on model predictive longitudinal speed tracking control is implemented based on a test platform of unmanned light tactical wheeled off-road vehicle. A lower level controller is designed according to the control characteristics of the platform. The feasibility of the system is first verified by using co-simulation of Matlab/Simulink and TruckSim vehicle with air brake system, and then vehicle tests are carried out on the asphalt road and dirt road, respectively. The results show that the system robustly model error and uncertain disturbances, such as long time delay of air brake system, the weight of the off-road vehicle, the fluctuation of resistance on the off-road condition, and adjust the desired acceleration adaptive. High-precision speed tracking control for various driving conditions is achieved. The drive control and brake control switch smoothly without oscillation during the test process, and the system can make full use of engine braking as a skilled driver, neither the electronic control brake nor the engine output torque is requested when necessary. The system uses states and parameters that can be easily acquired in modern vehicles, so the approach can be easily applied to other vehicles, and used as a powerful tool for unmanned ground vehicles control.