考虑道路条件和车速的横纵向控制驾驶员模型  

A driver model for lateral and longitudinal control considering road conditions and vehicle speed

作　　者：叶明 全洪乾 刘景升 张利杰 彭正明 李微领 YE Ming;QUAN Hongqian;LIU Jingsheng;ZHANG Lijie;PENG Zhengming;LI Weiling(College of Vehicle Engineering,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学车辆工程学院,重庆400054

出　　处：《重庆理工大学学报（自然科学）》2022年第10期41-50,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：重庆市技术创新与应用发展专项项目(cstc2021jscx-gksbx0043);重庆理工大学研究生创新项目(clgycx-20203034)。

摘　　要：针对智能汽车在复杂路径下跟踪效果不佳的问题,考虑车辆横纵向动力学耦合作用,提出一种横纵向控制驾驶员建模方法。根据道路条件对车辆转向和速度控制的影响,建立一种考虑路径曲率和横向坡度的多约束车辆动力学模型,并推导车辆侧翻和侧滑的临界速度,预测参考路径的安全车速;采用横向模型预测控制获得最优的前轮转角控制序列,纵向PID控制实现纵向速度跟随;搭建Simulink-CarSim和硬件在环联合仿真系统。仿真结果表明:横纵向控制驾驶员模型能够预测安全车速,提高路径跟踪精度和行驶稳定性,同时具有较好的鲁棒性。Aiming at the problem that the tracking effect of intelligent vehicles are not good in complex paths,considering the coupling effect of vehicle lateral and longitudinal dynamics,a driver modeling method for lateral and longitudinal is proposed in this paper.According to the influence of road conditions on vehicle steering and speed control,a multi-constraint vehicle dynamics model considering path curvature and lateral slope is built,the critical speed of vehicle rollover and sideslip are deduced,and then the safe vehicle speed of the reference path is predicted.This driver model obtains the optimal front wheel angle control sequence by lateral model predictive control,and follows the longitudinal speed by longitudinal PID control.A hardware-in-the-loop system which cooperate with Simulink-CarSim simulation model is built.The simulation results show that the lateral and longitudinal control driver model can predict the safe vehicle speed well,improve the path tracking accuracy and driving stability,and has better robustness.

关 键 词：道路条件 横纵向控制 安全车速 模型预测控制 驾驶员模型 

分 类 号：U469.72[机械工程—车辆工程] U461.1[交通运输工程—载运工具运用工程]