基于平动转动分离的车道线双回路滑模控制研究  

Research on Double Loop Sliding Mode Lane Keeping Control for Automated Vehicles Based on Separation of Translation and Rotation

作　　者：赵俊波[1] 杨洁[1] 吴华丽[2] 雷军委[2] 

机构地区：[1]浙江交通职业技术学院机电学院,浙江杭州311112 [2]海军航空工程学院控制工程系,山东烟台264001

出　　处：《测控技术》2016年第3期92-95,114,共5页Measurement & Control Technology

基　　金：国家自然科学基金(61174031);山东省自然科学基金(ZR2012FQ010)

摘　　要：针对车辆自主驾驶中的车道线保持问题,基于车辆横向动力学简化线性模型,把车辆运动分为平动与转动,按照平动与转动分离的思想,采用内外回路分层设计的方法,提出了一类以角度稳定为内稳定核心回路,以位置误差跟踪为外回路的双回路控制方案。其内外回路相串联,并由车辆平动位置信息驱动转动角稳定回路,对双回路均采用滑模控制方法。最后,采用详细的仿真分析说明了该设计方法具有明确的物理意义,而且控制律构成不包含系统不确定信息,具有很好的鲁棒性,能够满足工程应用的需要。The lane keeping problem of automatic driving for vehicles is studied based on the simplified linear lateral dynamic model that is divided into a translation subsystem and a rotation subsystem.The rotation subsystem and translation subsystem are respectively defined as an inner loop and an outer loop.With the separation design strategy of inner loop and outer loop,a kind of angle stable controller is designed to make the rotation subsystem stable.The inner angle stable subsystem is driven by the outer translation subsystem that is controlled by the error signal of vehicle position.The inner loop is cascaded with outer loop,and both loops are designed by the sliding mode method.At last,the physical meanings of design are explained by using detailed numerical simulations.The proposed method has a very clear physical meaning,and the control law does not contain the uncertain information,so it has strong robustness,and is very suitable for engineering application.

关 键 词：车道保持 交通工程 滑模控制 双回路 鲁棒性 

分 类 号：U491[交通运输工程—交通运输规划与管理]