四轮转向智能车辆轨迹跟踪及稳定控制研究  

Research on Trajectory Tracking and Stability Control of 4WS Intelligent Vehicle

作　　者：毛丁丁 邓亚东[1] Mao Dingding;Deng Yadong(School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学汽车工程学院,武汉430070

出　　处：《机械科学与技术》2020年第7期1094-1099,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点研发计划项目(2018YFB0105301)资助。

摘　　要：为了改善智能车辆轨迹跟踪过程中的行驶稳定性,针对四轮转向车辆提出了一种轨迹跟踪及稳定控制方法。首先建立了车辆三自由度动力学模型,然后应用模型预测控制算法设计轨迹跟踪控制器。考虑了四轮转向车辆的动力学特性和不同路面附着对轮胎侧偏角控制的影响,在跟踪算法中引入零质心侧偏角控制和动态轮胎侧偏角边界控制方法,实现车辆的稳定控制。最后,通过对接路面工况下的仿真,验证了所提出的控制方法能够保证车辆在轨迹跟踪过程中具有良好的稳定性。In order to improve driving stability of intelligent vehicle in the process of trajectory tracking,a trajectory tracking and stability control method is proposed for four-wheel steering(4WS)vehicle.Firstly,the three-degree-of-freedom dynamic model of the 4WS intelligent vehicle is established.Then the model predictive control algorithm is used to design the trajectory tracking controller.Considering the dynamic characteristics of 4WS vehicle and the influence of different road surface on tire slip angle control,zero side slip angle control and dynamic tire slip angle boundary control methods are introduced to achieve stability control of the vehicle.Finally,through the simulation of the joint road conditions,it is verified that the proposed control method can ensure the driving stability of the vehicle in the trajectory tracking process.

关 键 词：轨迹跟踪 四轮转向 模型预测控制 稳定控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]