基于滑模控制和三阶预瞄决策的转向驾驶员模型  

Steering driver model based on sliding mode control and third⁃order preview decision

作　　者：王超[1,2] 郭孔辉 刘洋[2] 许男 王杨[1] 吴云平[3] WANG Chao;GUO Kong-hui;LIU Yang;XU Nan;WANG Yang;WU Yun-ping(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;KH Automotive Technologies(Changchun)Co.Ltd.,Changchun 130012,China;Ningbo ASDZ Electronic Technology Co.,Ltd.,Ningbo 315000,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022 [2]长春孔辉汽车科技股份有限公司,长春130012 [3]宁波尚谋电子科技有限公司,浙江宁波315000

出　　处：《吉林大学学报（工学版）》2020年第6期2238-2246,共9页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家重点研发计划项目(2017YFB0103602);中国汽车产业创新发展联合基金项目(U1664257);国家自然科学基金项目(61790561,51875236).

摘　　要：为同时提高轨迹跟随精度和侧向加速度跟随精度,本文假设驾驶员根据侧向位置偏差决策出最优侧向加速度变化率,建立三阶预瞄模型。以滑模控制的方法代替通过稳态增益配合侧向加速度反馈校正的转角决策方法,引入侧向加速度偏差构建比例-积分滑模面,基于新型饱和函数构建滑模控制律,从而应对系统的非线性特性,降低系统动态响应误差,同时降低抖振对控制输出量的影响。通过Simulink-CarSim联合仿真验证,基于滑模控制和三阶预瞄决策的转向驾驶员模型,轨迹跟随误差较普通多点预瞄模型大幅降低,且侧向加速度跟随精度明显提升,控制输出平滑,并输出了与真实驾驶员在一些特殊工况下类似的“一小段小幅度的反向转向”的操作方式。To improve the trajectory tracking accuracy and the tracking accuracy of lateral acceleration,this paper assumes that the driver decides the optimal lateral acceleration rate according to the lateral position deviation,and then gets the optimal lateral acceleration. The sliding mode control method is used instead of the angle decision method based on steady-state gain and lateral acceleration feedback correction. The proportional-integral sliding mode surface is constructed by lateral acceleration deviation. The sliding mode control law is constructed based on the new saturation function,so as to cope with the non-linear characteristics of the system,further reduce the dynamic response error of the system. The SimulinkCarSim co-simulation validates that the steering driver model based on sliding mode control and thirdorder preview decision-making reduces the overall deviation of trajectory tracking significantly compared with the ordinary multi-point preview model and improves the accuracy of lateral acceleration tracking significantly. The control output is smooth, "small reverse turn" mode,that like real drivers under some special conditions.

关 键 词：车辆工程 驾驶员模型 三阶预瞄 饱和函数 滑模控制 跟随精度 

分 类 号：U461.6[机械工程—车辆工程]