基于改进预瞄跟随算法的新能源汽车转向控制研究  

Research on steering control of new energy vehicles based on improved preview following algorithm

作　　者：张磊[1] Zhang Lei(Department of Mechanical and Electrical Engineering,Huaibei Vocational and Technical College,Huaibei 235000,China)

机构地区：[1]淮北职业技术学院机电工程系,安徽淮北235000

出　　处：《湖南文理学院学报（自然科学版）》2022年第1期31-35,共5页Journal of Hunan University of Arts and Science(Science and Technology)

基　　金：安徽省高校自然科学重点研究项目(KJ2020A0963)。

摘　　要：为了解决传统预瞄跟随算法应用于新能源汽车转向控制导致在转弯曲率过大路况下车辆易脱离路径的问题,对预瞄跟随算法改进并应用于汽车转向控制中,将预瞄点设定为当前车速下经过时间T到达的路径上的点,采用预瞄跟随最优曲率驾驶员模型的预瞄点快速搜索,并将改进算法在Dymola软件构建的新能源汽车转向控制模型上进行验证。和传统预瞄跟随算法相比,改进预瞄跟随算法对新能源汽车具有良好的目标路径跟随精度。改进预瞄跟随算法对新能源汽车转向控制开发具有一定的参考价值。In order to solve the problem that the traditional preview following algorithm is applied to the steering control of new energy vehicles,resulting in the vehicle easy to leave the path under the condition of excessive turning curvature,the preview following algorithm is improved and applied to the vehicle steering control.Set the preview point as the point on the path reached after time t at the current vehicle speed,use the preview to quickly search the preview point following the driver model with optimal curvature,and verify the improved algorithm on the steering control model of new energy vehicles constructed by Dymola software.Compared with the traditional preview following algorithm,the improved preview following algorithm has good target path following accuracy for new energy vehicles.The improved preview following algorithm has a certain reference value for the development of steering control of new energy vehicles.

关 键 词：预瞄跟随算法 转向控制 新能源汽车 

分 类 号：U471.15[机械工程—车辆工程]