考虑行驶稳定性的四轮转向车辆路径跟踪控制研究  

Research on path following control offour-wheel steering vehicle considering driving stability

作　　者：石沛林[1] 蒋军锡 侯建伟 梁明磊 郑辽东 赵玉帅 SHI Pei-lin;JIANG Jun-xi;HOU Jian-wei;LIANG Ming-lei;ZHENG Liao-dong;ZHAO Yu-shuai(School of transportation and vehicle engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《广西大学学报（自然科学版）》2021年第3期606-614,共9页Journal of Guangxi University（Natural Science Edition）

基　　金：山东省重大科技创新工程项目(2019JZZY010911)。

摘　　要：为了改善高速和低附着路面上无人驾驶车辆的行驶稳定性和保障行车安全,以四轮转向车辆为研究对象提出了一种考虑行驶稳定性的路径跟踪控制方法。首先基于模型预测控制算法设计了四轮转向路径跟踪控制器,然后根据质心侧偏角质心侧偏角速度相平面稳定域和零质心侧偏角控制目标设计了车辆状态参数包络约束,在路径跟踪算法中加入轮胎侧偏角约束和车辆状态参数包络约束,保证车辆行驶时的稳定性。CarSim和Simulink联合仿真结果表明,采用基于包络线稳定性控制策略的车辆在高速行驶时或在低附着路面上行驶时能保持良好的路径跟踪能力并具有较好的行驶稳定性。In order to improve the driving stability and ensure the driving safety of autonomous vehicles on high-speed and low adhesion roads,a path tracking stability control method is proposed for four-wheel steering(4WS)vehicles.Firstly,a four-wheel steering path tracking controller based on model predictive control algorithm is designed.Then,the envelope constraints of vehicle state parameters are designed according to the stability region of sideslip angle-sideslip angle speed phase plane and the control target of zero sideslip angle.The tire slip angle constraint and vehicle state parameter envelope constraint are added to the path tracking algorithm to ensure the driving stability of the vehicle.The co-simulation results of CarSim and Simulink show that the vehicle based on envelope stability control strategy maintains path tracking ability and the stability of vehicle at high-speed and on low adhesion roads.

关 键 词：四轮转向 无人驾驶车辆 模型预测控制 约束 行驶稳定性 

分 类 号：U461.1[机械工程—车辆工程]