车道保持预瞄控制及其稳态误差分析  

Preview Control for Lane Keeping and Its Steady-state Error Analysis

作　　者：任殿波[1] 崔胜民[1] 吴杭哲 

机构地区：[1]哈尔滨工业大学(威海)汽车工程学院,威海264209

出　　处：《汽车工程》2016年第2期192-199,共8页Automotive Engineering

基　　金：山东省自然科学基金(ZR2010FM008;ZR2015FM024);哈尔滨工业大学科研创新基金项目(HIT.NSRIF.2011117)资助

摘　　要：研究自动化公路系统车道保持预瞄控制方法,分析控制系统稳态误差。利用车载传感器获得车辆相对于车道中心线的侧向偏离,基于单点预瞄方法,建立车辆横向位置误差和横摆角误差动态模型;采用非奇异终端滑模方法,设计车道保持控制规律;应用李雅普诺夫稳定性理论,分析位置误差渐近稳定性;基于系统零动态模型,推导横摆角误差、侧偏角和转向角稳态值的计算公式。结果表明,道路曲率为零时,设计的控制规律能使车辆横向位置误差和横摆角误差同时趋于零;当道路曲率为一常数时,横向位置误差趋于零,横摆角误差趋于稳态值,其大小与道路曲率和车辆纵向速度有关,但与预瞄距离无关。In this paper,the preview control for lane keeping in automated highway systems is studied,and the steady state error of control system is analyzed. Assuming that the vehicle lateral offset to the lane center line can be obtained by using onboard sensors and based on single point preview method,the dynamic model for vehicle lateral position error and yaw angle error is established,and the control law for lane keeping is devised by adopting nonsingular terminal sliding mode technique. By applying Lyapunov stability theory,the asymptotic stability of lateral position error is analyzed,and the formulae for calculating the error of yaw angle and the stabilized values of sideslip angle and steering angle are derived based on the zero dynamics model of system. The results of study show that with the control law devised,when the road curvature is zero,both errors of lateral position and yaw angle tend to be zero; and when the road curvature is a constant,the lateral position error tends to be zero,while the yaw angle error tends to be stabilized at a certain value,related to the road curvature and the longitudinal velocity of vehicle,but independent of preview distance.

关 键 词：自动化公路系统 车道保持 单点预瞄 稳态误差 

分 类 号：U495[交通运输工程—交通运输规划与管理] U463.6[交通运输工程—道路与铁道工程]