基于MBSE的无人驾驶车辆轨迹跟踪控制系统设计与验证

doi:10.12305/j.issn.1001-506X.2026.05.25

摘要/Abstract

摘要：

针对逐渐复杂的无人驾驶车辆的轨迹跟踪控制系统问题，应用基于模型的系统工程方法对轨迹跟踪控制系统进行数字化建模设计。分析对无人驾驶车轨迹跟踪控制系统的整体架构，构建相互强关联性的数字化模型，包括建立利益相关方需求、需求分析、功能逻辑以及物理架构，模型之间搭建追溯矩阵等确保设计流程的合理性与一致性。在控制方面，建立二自由度车辆动力学模型，设计线性二次型调节器控制算法。研究异构软件之间的数据流通技术实现架构模型与控制策略的联合仿真。选取典型无人驾驶车辆路径跟踪工况实例仿真，结果表明所提方法搭建的轨迹跟踪控制系统数字化模型可实现无人驾驶车辆轨迹的精确跟踪，完成对控制系统需求的闭环验证。

关键词: 基于模型的系统工程, 无人驾驶车辆, 轨迹跟踪, 线性二次型调节器控制

Abstract:

In response to the increasingly complex trajectory tracking control system problems of autonomous vehicles, the model-based systems engineering method is applied to digitally model and design the trajectory tracking control system. The overall architecture of the trajectory tracking control system for autonomous vehicles is analyzed, a digital model with strong correlation between each other is built. Stakeholder demand, demand analysis, functional logic and physical architecture, and traceability matrix between models are established to ensure the reasonableness and consistency of the design process. In terms of control, a two-degree-of-freedom vehicle dynamics model is establised, and a linear quadratic regulator control algorithm is designed. To achieve joint simulation of architecture model and control strategy, the technology of data flow between heterogeneous software is studied. Cases are simulated under typical trajectory tracking scenarios for an unmanned vehicle. The results demonstrate that the digital model of the trajectory tracking control system constructed by the proposed method can achieve precise trajectory tracking for the unmanned vehicles, fulfilling the closed-loop verification of control system requirements.

Key words: model-based systems engineering （MBSE）, unmanned vehicle, trajectory tracking, linear quadratic regulator (LQR) control

中图分类号:

TP 273

李航宇, 李心语, 张文丰, 罗珊, 金智林. 基于MBSE的无人驾驶车辆轨迹跟踪控制系统设计与验证[J]. 系统工程与电子技术, 2026, 48(5): 1695-1705.

Hangyu LI, Xinyu LI, Wenfeng ZHANG, Shan LUO, Zhilin JIN. Design and verification of trajectory tracking control system for autonomous vehicles based on MBSE[J]. Systems Engineering and Electronics, 2026, 48(5): 1695-1705.

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