AFS与DYC协调控制的智能汽车路径跟踪方法  

Intelligent vehicle path tracking method based on AFS and DYC coordinated control

作　　者：刘军[1] 刘皓皓 顾洪钢 王菁菁 LIU Jun;LIU Haohao;GU Honggang;WANG Jingjing(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]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）》2023年第4期1-9,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51275212)。

摘　　要：为提高智能车辆在复杂道路条件下的路径跟踪能力与行驶稳定性,提出了一种基于AFS(主动前轮转向)与DYC(直接横摆力矩控制)协调控制的智能汽车路径跟踪控制方法。为保证车辆在复杂道路条件下的路径跟踪精度,在车辆2自由度模型及单点预瞄模型的基础上,控制预瞄时间使其自适应跟踪目标路径;在DYC设计时,考虑到横摆角速度和质心侧偏角量纲不同,采用无量纲方法设计横摆力矩滑模控制器,并采用单轮制动的方式实现附加横摆力矩的分配;同时,为了使AFS和DYC的工作效果得到充分发挥,基于车辆失稳侧滑时的前轮临界转角,采用加权分配函数的方式保证协调控制的平顺性。基于Carsim-Simulink联合进行鱼钩工况及双移线工况下的试验仿真,并与独立控制对比。试验结果表明:协调控制在满足对复杂道路条件跟踪准确性的同时可有效改善智能车辆行驶时的操纵稳定性,具有更好的鲁棒性。The continuous development of vehicle intelligence and electronic technology has greatly promoted the vigorous development of the automotive industry.How to improve path tracking accuracy,driving safety and stability of intelligent vehicles has become a focus of research for many automotive companies.Both Active Front-wheel Steering(AFS)and Direct Yaw-moment Control(DYC)can greatly assist in the stability performance of intelligent vehicles.AFS controls a vehicle in the yaw direction by changing the front wheel angle,while DYC applies additional longitudinal force(braking or driving force)to the wheels to improve the stability of a vehicle’s motion.However,both AFS and DYC have their limitations when controlled separately.Therefore,compared with individual control,coordinated control of AFS and DYC can fully consider the interactions between various subsystems,and has the advantages of high flexibility,good fault tolerance and high control accuracy.In this paper,a coordinated control method for intelligent vehicle path tracking based on AFS and DYC is proposed to improve the path tracking ability and driving stability of intelligent vehicles under complex road conditions.Based on a two-degree-of-freedom vehicle model and a single point preview model,the preview time is controlled to change adaptively,aiming to ensure the tracking accuracy and driving stability of the vehicle under complex road conditions;in the design of DYC controller,considering different dimensions of yaw rate and sideslip angle,a dimensionless sliding mode controller for the addition yaw moment is designed and a single wheel braking method is used to distribute the additional yaw moment to the corresponding wheel;at the same time,in order to fully utilize the working effects of AFS and DYC,the critical steering angle of the front wheels at the edge of the vehicle’s losing stability is calculated,and a weighted distribution function is used to ensure stability and smoothness of the coordinated control,while also taking ride comfort into ac

关 键 词：智能汽车 主动前轮转向 直接横摆力矩控制 预瞄时间自适应 协调控制 路径跟踪控制 

分 类 号：U491.6[交通运输工程—交通运输规划与管理]