基于预瞄时间自调整控制智能车辆横向轨迹跟踪研究  

Research on Lateral Trajectory Tracking of Four-wheel Steering Vehicle Based on Self-adjustment of Preview Time

作　　者：郭子奇 张昕[1] 马昕池 张宏远[1] GUO Ziqi;ZZHANG Xin;MA Xinchi;ZHANG Hongyuan(School of Automobile and Transportation,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学汽车与交通学院,沈阳110159

出　　处：《车辆与动力技术》2024年第2期34-39,共6页Vehicle & Power Technology

基　　金：辽宁省教育厅科学研究项目(LG202107);辽宁省教育厅基本科学研究项目(JYTMS20230207)。

摘　　要：提出了一种基于预瞄时间自调整控制的四轮转向(4ws)智能车辆横向轨迹跟踪算法.针对轨迹跟踪精度问题,建立了预瞄时间自调整控制驾驶员模型,调整预瞄时间,采用滑模控制对前轮进行控制.针对跟踪过程中行驶稳定性较差等问题,后轮转向采用横摆角速度反馈控制策略.在Carsim与Simulink联合仿真平台下进行单移线工况下的仿真,仿真结果表明:预瞄时间自调整控制在低速时的跟踪精度比固定预瞄时间控制提升55%,高速时提升5%.后轮转向采用横摆角速度反馈控制的质心侧偏角比采用前馈控制在低速时减小了21%,高速时减少了54%,验证了所提出的控制算法,提高了转向过程中的行驶稳定性和横向轨迹跟踪能力.A lateral trajectory tracking algorithm for intelligent four-wheel steering(4ws)vehicles based on self-adjusting control of pre-sight time was proposed.To address the issue of trajectory tracking accuracy,a driver model of self-adjusting pre-sight time control was established to adjust the preview time,and the front wheel was controlled by synovial control.To tackle the problem of poor driving stability in the tracking process,the yaw velocity feedback control strategy was adopted for rear wheel steering.Simulations were conducted on a joint Carsim and Simulink simulation platform under single-lane change conditions.The simulation results show that the tracking accuracy of self-adjusting preview time control is improved by 55%at low speeds and 5%at high speeds compared to fixed preview time control.Additionally,the sideslip angle of the vehicle with rear-wheel steering using yaw rate feedback control is reduced by 21%at low speeds and 54%at high speeds compared to feedforward control,verifying the effectiveness of the proposed control algorithm in improving driving stability and lateral trajectory tracking capabilities during steering maneuvers.

关 键 词：四轮转向 预瞄时间自调整 反馈控制 横向轨迹跟踪 

分 类 号：U469.72[机械工程—车辆工程]