Speed planning and control in complex road conditions based on vehicle driving capability

Abstract

In order to solve the problem of vehicle speed planning that meets the constraints of safety and efficiency in complex road environments (large curvature and low adhesion), a differential equation planning method based on vehicle dynamics analysis is proposed. First, the structural parameter expression of the limit speed that meets the lateral tire force constraint during steady-state steering is derived. Secondly, the tire force execution space of the front and rear wheels is combined into an FF diagram, and an implicit differential equation that considers load transfer and driving mode factors is obtained. The differential equation is solved to obtain the limit speed along the path, and a limit speed calculation method for discrete path information is given. Finally, a lateral and longitudinal collaborative model predictive controller is designed, and a CarSim and Simulink joint simulation platform is built. Trajectory tracking simulation experiments are carried out on both continuous and discrete information paths with the planned limit speed. The results show that the limit speed planning method proposed in this paper can complete the trajectory tracking task in complex road environments as quickly as possible while controlling the tire force within the range of the stable friction circle.