Design And Implementation Of A Semi-Physical Simulation Platform For Unmanned Vehicle Path Tracking Control

With the development of sensor technology,communication technology,electronic technology and other related technologies,the unmanned vehicle industry is developing rapidly.And the path tracking control algorithm of unmanned vehicles is also continuously innovating and developing.In general,the development of the path tracking control algorithm requires the theoretical derivation and design of the algorithm first.Then the algorithm will be verified by software simulation and real vehicle test.When problems are found in real vehicle verification,the algorithm needs to be modified.And then the above verification steps need to be repeated.A reliable algorithm often needs to be modified and verified for many times before it can be successfully developed.However,the real vehicle verification costs a lot of time and money.In many cases,the real vehicle test cannot be carried out in time,which slows down the development progress of the path tracking control algorithm.Hardware-in-loop(HIL)simulation can effectively verify the algorithm before the actual vehicle test,which can speed up the development progress of the path tracking control algorithm.Therefore,it is of great significance to design a HIL simulation platform that can simulate the real vehicle test scene.This paper designs a HIL simulation platform system for unmanned vehicle path tracking control.Firstly,a domain controller of unmanned vehicle is designed according to the requirements.Secondly,the Robot Operating System(ROS)is transplanted into the domain controller to establish communication with Matlab/Simulink software on the computer side.Finally,the function test and performance test are carried out to verify the reliability of the HIL simulation platform system.The specific research contents are as follows:Firstly,the system architecture,vehicle model and basic path tracking control method of unmanned vehicle are introduced.Through the unmanned vehicles system functions,composition and process analysis,clear unmanned vehicle systems related features,complete the unmanned vehicle kinematics and dynamics of the mathematical modeling,and the basic of unmanned vehicles path tracking control technology for derivation and introduction,for subsequent domain controller hardware design and control algorithm design provides analysis basis.Secondly,the HIL simulation platform system design.In order to design a reliable HIL simulation platform,the development process of the HIL simulation platform is designed according to the V-shaped development process.According to the designed development process,the hardware design of the domain controller is completed from the main controller,communication interface and power supply.Then,ROS is transplanted to the domain controller to communicate with the computer and complete the hardware and software design of the HIL simulation platform system.Finally,the function and performance of the HIL simulation platform are verified.Firstly,Model Predictive Control(MPC)algorithm software simulation and HIL simulation,through the comparison of MPC software simulation and HIL simulation,the hardware-in-loop simulation platform HIL simulation function is preliminatively verified.Then,aiming at the weak anti-interference ability of MPC algorithm,a sliding mode active disturbance rejection algorithm based on Extended State Observer(ESO)is developed,and the algorithm is verified by software simulation and HIL simulation.The analysis and verification results of MPC algorithm and sliding mode active disturbance rejection algorithm show that the hardware-inloop simulation platform can perform effective HIL simulation verification for a variety of control algorithms,and the sliding mode active disturbance rejection algorithm developed based on the hardware-in-loop simulation platform has good path tracking accuracy and strong anti-interference performance.Finally,the sliding mode ADRC algorithm verified by HIL simulation is tested in real vehicle,and the results of real vehicle test and HIL simulation are compared to complete the performance verification of the HIL simulation platform.