无人车辆轨迹跟踪与横摆稳定协调控制研究  

Research on Coordinated Control of Trajectory Tracking and Yaw Stability of Unmanned Ground Vehicle

作　　者：王俊昌[1] 李军民[1,2] WANG Junchang;LI Junmin(School of Mechanical Engineering,Anyang Institute of Technology,Anyang 455000,China;School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]安阳工学院机械工程学院,河南安阳455000 [2]江苏大学汽车与交通工程学院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2021年第7期62-70,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：河南省安阳市科技攻关项目(182102210498)。

摘　　要：针对无人车辆轨迹跟踪问题,为兼顾车辆轨迹跟踪和横摆稳定的双控制目标,提出了一种无人车辆轨迹跟踪与横摆稳定协调控制策略。根据车辆轨迹跟踪模型,基于快速幂次趋近律设计了车辆轨迹跟踪滑模控制器,旨在通过无人车辆自主转向控制跟踪参考轨迹。同时,利用滑模算法设计了车辆横摆稳定控制器,通过横摆力矩控制跟踪参考横摆角速度。考虑到横摆稳定控制器中横向车速未知的情况,设计了横向车速滑模观测器,从而为横摆稳定控制器提供信息输入。此外,利用横摆力矩控制量设计了前轮转向角补偿模块,通过轨迹跟踪和横摆稳定控制器的协调,进一步修正轨迹跟踪精度。利用CarSim和Simulink平台搭建了联合仿真模型。仿真结果表明:所提出的轨迹跟踪与横摆稳定协调控制策略能够实现轨迹跟踪,并兼顾车辆的横摆稳定性。Aiming at the problem of trajectory tracking of unmanned vehicle,a coordinated control strategy of trajectory tracking and yaw stability of unmanned ground vehicle is proposed in order to integrate both trajectory tracking and yaw stability control.According to the vehicle trajectory tracking model,a sliding mode controller for vehicle trajectory tracking is designed based on the fast power approach law,which aims to track the reference trajectory through the vehicle steering control.At the same time,the vehicle yaw stabilization controller is designed by using the sliding mode algorithm,and the reference yaw rate is tracked by the yaw moment control.Considering the unknown lateral speed in the yaw stability controller,a sliding mode observer is designed to provide information input for the yaw stability controller.In addition,the front-wheel steering angle compensation module is designed using the results of yaw moment control,and then the trajectory tracking accuracy is further modified through the coordination of trajectory tracking and yaw stability controller.A joint-simulation model is built based on the platform of CarSim and Simulink,and the simulation results show that the proposed coordinated control strategy of trajectory tracking and yaw stability can achieve trajectory tracking control and ensure yaw stability of vehicle at the same time.

关 键 词：智能汽车 轨迹跟踪 横摆稳定 协调控制 

分 类 号：U461.1[机械工程—车辆工程]