双自由度车辆横向随动控制研究  

Research on Vehicle Lateral Control with Two Degrees of Freedom

作　　者：李史欢 郭为安[1] 汪镭[1] LI Shihuan;GUO Wei'an;WANG Lei(College of Electronics and Information Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学,电子与信息工程学院,上海201804

出　　处：《微型电脑应用》2023年第8期40-43,共4页Microcomputer Applications

基　　金：上海市科委项目:新基建背景下基于大数据分析的上海市新能源汽车充电桩选址及定容评估与优化(20692191200)。

摘　　要：为了满足自动驾驶的需求,提出了一套轨迹随动车辆横向控制方案。采用双自由度结构将车辆的输入特性与干扰特性区分开来,同时通过改进传统结构,使驾驶员通过方向盘的输入信号在干扰观测器中不再被视为干扰信号,控制结构因此表现出更好的协同性。通过实车测试表明,该控制结构可实现汽车沿规划轨迹行驶的稳定性并满足其他要求。To meet the requirements of autonomous driving,a vehicle trajectory lateral control system is proposed.A dual degree of freedom structure is used to distinguish the input characteristics of the vehicle from the interference characteristics.At the same time,by improving the traditional structure,the driver's input signals through the steering wheel are no longer considered as interference signals in the interference observer,and the control structure therefore exhibits better coordination.The actual vehicle test shows that the control structure can achieve the stability of the vehicle moving along the planned trajectory and meet other requirements.

关 键 词：自动驾驶 车辆控制 鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]