基于轮胎状态刚度预测的极限工况路径跟踪控制研究  

Research on Path Tracking Control Under Limit Conditions Based on Tire State Stiffness Prediction

作　　者：王国栋 刘洋 李绍松[1] 卢晓晖[1] 张邦成[1] WANG Guo-Dong;LIU Yang;LI Shao-Song;LU Xiao-Hui;ZHANG Bang-Cheng(School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012;KH Automotive Technologies(Changchun)Co.,Ltd.,Changchun 130012)

机构地区：[1]长春工业大学机电工程学院,长春130012 [2]长春孔辉汽车科技股份有限公司,长春130012

出　　处：《自动化学报》2022年第6期1590-1600,共11页Acta Automatica Sinica

基　　金：国家重点研发计划(2017YFB0103602);国家自然科学基金(51905045,61603060)资助。

摘　　要：为解决高速极限工况下自动驾驶车辆紧急避撞时传统路径跟踪控制方法因轮胎力表达不精确导致的路径跟踪失败问题,提出一种基于轮胎状态刚度预测的模型预测路径跟踪控制方法.首先,基于非线性UniTire轮胎模型求解的轮胎状态刚度对非线性轮胎力进行线性化处理.其次,基于期望路径信息提出状态刚度预测方法,实现预测时域内轮胎力的预测和线性化.最后, MATLAB和CarSim联合仿真实验表明:所提出的方法能够明显改善高速极限工况下的避撞控制效果.To solve the problem of path tracking failure caused by the imprecise expression of tire force in conventional path tracking control system during the emergency collision avoidance of autonomous vehicles under highspeed limit condition, a model predictive path tracking control method based on tire state stiffness prediction is proposed. Firstly, the nonlinear tire force is linearized based on the tire state stiffness calculated by the nonlinear UniTire tire model. Secondly, based on the reference path information, the state stiffness prediction method is proposed to predict and linearize the tire force in the predicted horizon. Finally, MATLAB and CarSim joint simulation experiments show that the proposed method can improve the collision avoidance control effect under highspeed limit conditions obviously.

关 键 词：自动驾驶车辆 路径跟踪 转向避撞 模型预测控制 状态刚度预测 

分 类 号：U463.6[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]