Model predictive control of steering torque in shared driving of autonomous vehicles

Abstract

The current path tracking control method is usually based on the steering wheel angle loop, which often makes the driver lose control of the automatic driving control loop. In order to involve the driver in the automatic driving control loop, and to solve the vehicle path tracking control problem with system robustness and model uncertainty, this paper puts forward a steering torque control method based on model predictive control algorithm. Based on the vehicle model, this method introduces the steering system model and the steering resistance torque model, and calculates the optimal control torque of the vehicle through the real-time vehicle status, so as to make up for the model mismatch, interference and other uncertainties, and ensure the real-time participation of the driver in the automatic driving control loop. To combine the nonlinear vehicle dynamics model with the steering column model, and to take the vehicle state parameters as the feedback variables of the model predictive controller model, then input the solution of the steering superposition control rate into the vehicle model, the design of the steering controller is realized. Finally, to carry out the simulation of lane keeping based on CarSim software and Simulink control model, and the hardware in-the-loop test on the hardware in-the-loop experimental platform of CarSim/LabVIEW-RT. The simulation and test results indicate that the designed torque loop path tracking control method based on model predictive control can help the driver track the target path better.