| Citation: | MA Siqun, WANG Zhaoqiang, ZHAO Jiawei, HAN Bo. Vehicle lateral and longitudinal control based on road boundary constraints[J]. Journal of Shanghai University of Engineering Science, 2022, 36(4): 398-404. doi: 10.12299/jsues.22-0128
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In order to improve the adaptability and tracking stability of autonomous vehicles to different roads, a lateral and longitudinal trajectory tracking method based on road boundary constraints and dual proportional-integral-derivative (PID) was proposed. Based on the road boundary constraints, the steering curvature for safe driving was obtained, and then the safe driving steering angle was calculated by combining the two-degree-of-freedom dynamic model. The method is simple to calculate, and the farthest preview point is determined autonomously by the width and curvature information of the road. Through the simulation test, the calibration relationship table of vehicle acceleration, speed, accelerator and brake were made, and a dual-PID speed tracking controller was designed based on the calibration table. Finally, through the Carsim-Simulink co-simulation, it is proved that the lateral and longitudinal controller can safely drive within the road range, and has good tracking accuracy and stability.
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