智能四轮转向车辆稳定车道线保持串级控制  

Cascade Control for Stable Lane Keeping by Intelligent Four-wheel Steering Vehicles

作　　者：房泽平[1,2] 段建民[1] 郑榜贵[1] 

机构地区：[1]北京工业大学北京市交通工程重点实验室,北京100124 [2]中原工学院电子信息学院,河南郑州450007

出　　处：《信息与控制》2016年第4期492-498,512,共8页Information and Control

基　　金：北京市属高等学校人才强教计划资助项目(038000543115025)

摘　　要：为实现四轮前后轮转向车辆的稳定车道线保持控制,提出集成直接横摆力矩和车道线保持的串级控制策略.主控制器实现车道线保持前轮转角控制.副控制器实现车辆稳定性控制.主控制器基于MPC(model predictive control)算法控制车辆前轮转角,通过调整前轮转角使得横向位置偏差和航向角偏差最小.主控制器的车辆前轮转角作为副控制器的输入,计算期望滑移角和期望横摆率.车辆后轮转角和横摆力矩作为副控制器控制输入,基于LQ(linear quadratic)算法计算补偿车辆后轮转角和横摆力矩,实际车辆滑移角和实际横摆率跟踪期望滑移角和期望横摆率.车辆的前轮转角、后轮转角和横摆力矩作为控制输入,在副控制器实现车辆稳定性控制基础上,主控制器实现准确地车道线保持控制,保证智能车辆在车道内自主安全行驶.仿真结果表明,该串级控制策略的有效性,提高了智能车辆车道线跟踪的准确性,也提高车辆的稳定性和操纵性.To ensure lane-keeping stability by intelligent four-wheel steering vehicles, we propose a cascade-control strategy that integrates direct yaw-moment control and lane-keeping control. The main controller provides frontwheel angle control for lane-keeping, and the deputy controller provides yaw stability control. The main controller, which is based on the model predictive control （MPC） algorithm, controls and adjusts the front-wheel angle to minimize horizontal-position and heading-angle deviations. The front-wheel angle of the main controller is input to the deputy controller to obtain the desired slip angle and yaw rate. The rear-wheel angle and yaw mo- ment are also input to the deputy controller, which calculates the compensation of the rear-wheel steering angle and yaw moment, based on the linear quadratic （LQ） algorithm, and the actual vehicle slip angle and yaw rate can track the desired slip angle and yaw rate. The front-wheel steering angle, rear-wheel steering angle, and yaw moment are the control inputs, and after achieving stability control, the main controller can achieve accurate lane-keeping to ensure that the intelligent vehicle drives safely inside the driving lane. The simulation results demonstrate the effectiveness of the cascade-control strategy and its performance in improving the accuracy of intelligent-vehicle lane tracking, while also improving stability and maneuverability.

关 键 词：智能车辆 稳定车道线保持 串级控制 模型预测控制 线性二次型规划 

分 类 号：U469.72[机械工程—车辆工程]