车辆高速避让路径跟踪控制策略  

Path tracking control strategy of vehicle for high speed collision avoidance

作　　者：王健[1] 王金波 于蓬 杨君[1] 郑金凤 WANG Jian;WANG Jinbo;YU Peng;YANG Jun;ZHENG Jinfeng(School of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, China;Shandong Mingyu New Energy Technology Co. , Ltd. , Jinan 271100, China)

机构地区：[1]山东交通学院汽车工程学院,山东济南250357 [2]山东明宇新能源技术有限公司,山东济南271100

出　　处：《内燃机与动力装置》2020年第2期35-41,48,共8页Internal Combustion Engine & Powerplant

基　　金：山东省重点研发计划(2017GGX50109,2018GGX105008);山东交通运输厅科技计划(2018B66);山东省高等学校科技计划项目(J17KB024,J18KA050);山东交通学院博士科研启动基金资助(BS2017001,BS2017003)。

摘　　要：建立车辆动力学模型,研究车辆在高速避让工况下的路径跟踪控制策略。基于自抗扰控制设计车辆横摆角速度以及道路曲率2种不同的路径跟踪控制器;设计基于车辆偏航位移和偏航角度加权的线性二次最优控制器;对3种控制器控制效果进行仿真验证,分析路径跟踪侧向位移误差、侧向加速度、前轮转向角以及偏航角度变化。越野车实车测试结果表明,路径跟踪控制策略正确。High speed collision avoidance technology can avoid rear-end collision of vehicles at high speed and can improve the driving safety of vehicles.On the basis of two degrees of freedom vehicle dynamics model,the path tracking control strategy for high speed collision avoidance is studied.Three path tracking controllers are designed based on vehicle yawing angular velocity,road curvature,vehicle yaw displacement and yaw angle by using active disturbance rejection control method and linear quadratic optimal control method.The control effects are compared by analyzing the lateral displacement error,vehicle yaw angle,lateral acceleration and front wheel angle.In order to verify the correctness of the path tracking control strategy,a light-duty off-road vehicle is used for real vehicle tests.

关 键 词：高速避让 控制策略 自抗扰控制 路径跟踪 

分 类 号：U471[机械工程—车辆工程]