智能汽车轨迹跟踪与稳定性控制协调优化  

Intelligent Vehicle Path Tracing and Stability Control Coordination Optimization

作　　者：赵柯帆 裴晓飞[1,2] 刘一平 ZHAO Ke-fan;PEI Xiao-fei;LIU Yi-ping(School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,China;Hubei Key Laboratory of Modern Auto Parts,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学汽车工程学院,武汉430070 [2]武汉理工大学现代汽车零部件湖北省重点实验室,武汉430070

出　　处：《武汉理工大学学报》2023年第10期141-149,168,共10页Journal of Wuhan University of Technology

基　　金：国家自然科学基金(52272426);广西科技重大专项(桂科AA22068094)。

摘　　要：如何在极限工况下合理地利用耦合的轮胎力,实现轨迹跟踪和运动稳定性的协同优化是当前智能汽车控制的难题之一。为了在保证智能车辆行驶稳定性的前提下提高对期望轨迹的跟踪精度,作者提出了一种基于运动学前馈模型的轨迹跟踪和底盘动力学稳定性协调的控制框架。首先,介绍了基于多点预瞄的四轮转向车辆-道路系统动力学模型;其次,基于LQR最优控制提出了一种四轮转向轨迹跟踪反馈控制器;再次,设计了一种基于滑模控制的底盘稳定性集成控制方法;同时,以轮胎侧偏特性作为切换门限进行轨迹跟踪与稳定性控制的协调优化;最后,在Simulink与TruckSim联合仿真的平台上进行了4种工况的对比试验,研究结果表明:文中所提出的轨迹跟踪与底盘稳定性协调控制方法,在各种路面附着和行驶工况下,相比于现有控制方法在轨迹跟踪准确性和行驶稳定性方面都有明显的提升,具有一定的工程应用价值。It is difficult to make reasonable use of the coupled tire force to cooperatively optimize the path tracking control accuracy and vehicle state stability of intelligent vehicles in extreme working conditions.In order to improve the tracking accuracy of the desired path on the premise of ensuring the running stability of the intelligent vehicle,this paper presents a coordinated control framework based on kinematic model of feedforward and feedback path tracking and chassis dynamics stability.Firstly,the four-wheel steering vehicle-road system dynamics model based on multi-point preview is introduced.Secondly,a path tracking feedback controller for four-wheel steering was proposed based on LQR optimal control.Thirdly,an integrated control method of chassis stability based on sliding mode control is designed.At the same time,the coordinate optimization of path tracking and stability control was carried out by taking the tire sidewise characteristics as the switching threshold.Finally,comparison tests were carried out in four working conditions on the Simulink and TruckSim co-simulation platform.The research results show that the coordinated control method of path tracking and chassis stability proposed in this paper can improve the accuracy of path tracking and driving stability compared with the existing control methods under various road adhesion and driving conditions,so it has certain engineering application value.

关 键 词：智能汽车 轨迹跟踪 稳定性控制 四轮转向 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]