车辆换道轨迹滑模跟踪控制研究  

A Sliding Model Control Method for Tracking Lane Changing Trajectory

作　　者：王崇伦[1] 李振龙[1] 盖彦荣[1] 辛丰强[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《交通信息与安全》2012年第5期39-44,共6页Journal of Transport Information and Safety

基　　金：国家自然科学基金项目(批准号:60774037);国家自然科学基金青年基金项目(批准号:60904069)资助

摘　　要：考虑车辆动力学性能前提下,针对运动学描述的四轮车辆换道轨迹跟踪问题,利用滑模变结构控制方法以及改进的指数趋近律设计了轨迹跟踪控制律,并分析了其李亚普诺夫稳定性。该控制律不但能有效的减弱抖振,而且能够保证系统在有限时间内平滑的到达平衡状态。在该控制律的基础上,利用摄像机标定方法获取实际车辆换道轨迹,然后对考虑实际换道过程的期望换道轨迹进行跟踪控制。仿真实验验证了换道轨迹跟踪控制方法的有效性及实用性。Based on vehicle dynamics, a kinematics model is used to study the lane changing trajectory and tracking control of four-wheel vehicles. A sliding model control method and an improved Index asymptotic law is used to design a trajectory tracking controller. Then, its Lyapunov stability is analyzed. It is found out that the controller can not only ef- fectively eliminate chattering, but also smoothly converge to equilibrium within a limited time. Based on this controller, the actual vehicle lane changing trajectories are captured by using a camera calibration method. At last, the expected traj- ectory from the actual lane changing process is tracked. Simulation results verify the effectiveness and practicality of the proposed control method for tracking lane changing trajectory.

关 键 词：车辆换道 轨迹跟踪 滑模变结构 

分 类 号：U491[交通运输工程—交通运输规划与管理] TP391[交通运输工程—道路与铁道工程]