基于二自由度模型的无人驾驶车辆轨迹跟踪控制研究  

Trajectory Tracking Control of Unmanned Ground Vehicle Based on the Two-Degree-Freedom Model

作　　者：秦万军[1] 徐友春 李明喜 耿帅[1] 李欣莹[1] 

机构地区：[1]军事交通学院研究生管理大队,天津300161 [2]军事交通学院军用车辆系,天津300161

出　　处：《军事交通学院学报》2014年第11期31-35,共5页Journal of Military Transportation University

基　　金：国家自然科学基金项目(91120306;51175290;61203366;91220301);博士后基金项目(2013M542433);天津市自然科学基金项目(14JCQNJC01600)

摘　　要：对无人驾驶车辆前后轮胎所受的侧偏力进行分析,求解出该车的运动微分方程,并基于此建立一个二自由度模型,用Matlab/Simulink软件对其进行仿真,通过一个转向实例验证该模型的有效性。利用GPS采集的点建立一条无人车的预期轨迹,通过控制转角的输入控制车辆转向,初步实现轨迹的跟踪,为无人车轨迹跟踪控制的研究提供重要的理论依据。After analyzing the cornering force of front and rear wheels, the motion equation of a car was solved. Then, on the former basis, a two - degree - freedom model was built, which was simulated by using the Matlab/Simulink software. Besides, its effectiveness was validated by a steering example. The points collected through GPS were used to establish an expected trajectory of unmanned vehicle. The vehicle steering was controlled through controlling the input at the steering angle, and the trajectory tracking was achieved. This paper provides an important theoretical basis for the trajectory tracking control of unmanned ground vehicle.

关 键 词：无人驾驶车辆 二自由度 轨迹跟踪 控制 MATLAB/SIMULINK 

分 类 号：U471.15[机械工程—车辆工程]