考虑姿态稳定性的智能客车轨迹跟踪控制研究  

Intelligent Bus Trajectory Tracking Control for Body Attitude Stability

作　　者：王洪亮[1] 范硕 皮大伟[1,6] 范丁阁 陈轶杰 范晶晶[4,5] WANG Hongiang;FAN Shuo;PI Dawei;FAN Dingge;CHEN Yijie;FAN Jingjing(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,Jiangsu 210094,China;China Northern Vehicle Research Institute,Beijing 100072,China;Chinese Scholar Tree Ridge Lab,Beijing 100072,China;School of Electrical and Control Engineering,North China University of Technology,Beijing 100144,China;National Industrial Innovation Center of Intelligent Equipment,Liyang,Jiangsu 213300,China;Jiangsu Province Engineering Research Center of Intelligent Chassis for Commercial Vehicles,Nanjing,Jiangsu 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]中国北方车辆研究所,北京100072 [3]先进越野系统技术全国重点实验室,北京100072 [4]北方工业大学电气与控制工程学院,北京100144 [5]江苏智能无人装备产业创新中心有限公司,江苏溧阳213300 [6]江苏省商用车智能底盘工程研究中心,江苏南京210094

出　　处：《北京理工大学学报》2024年第8期780-791,共12页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金重点资助项目(52332013)。

摘　　要：针对智能客车行驶中遇到突发情况时驾驶员应急激烈操作以及车辆传感器识别误差导致车辆路径规划不合理引起的车辆侧翻,提出一种基于车身姿态稳定性的轨迹跟踪控制策略.根据现有主动防侧倾研究基础推导智能客车目标侧倾角算法,以横向载荷转移率为侧翻指标,采用卡尔曼滤波算法进行车辆参数估计,实现横向载荷转移率预测.根据智能客车横向载荷转移率预测值设计基于差动制动的纵向控制策略、考虑车身侧倾和俯仰运动的垂向控制策略以及轨迹跟踪横向控制策略,最后通过仿真验证上述策略控制效果.结果表明,基于车身姿态稳定性的轨迹跟踪控制策略在车辆行驶遇到突发情况驾驶员激烈操作时能够保证车辆行驶稳定,在智能客车轨迹跟踪过程中能降低车辆侧翻风险.A trajectory tracking control strategy was proposed for vehicle attitude stability to solve the problem of rolling over caused by driver's emergency operation and unreasonable vehicle path planning caused by vehicle sensor recognition error.Firstly,based on the existing active anti-roll research foundation,a target roll angle algorithm was derived for intelligent bus.And then,taking lateral load transfer rate as the rollover index,a vehicle parameter estimate was carried out with Kalman filter algorithm to achieve lateral load transfer rate prediction.According to the lateral load transfer rate predicted value of intelligent bus,several control strategies were designed including the longitudinal control strategy with differential braking,the vertical control strategy for the body roll and pitch motion and the lateral control strategy for trajectory tracking.Finally,all the control effects of the above strategies were verified with simulation.The results show that the trajectory tracking control strategy proposed for vehicle attitude stability can ensure the stability of the vehicle during driver operating violently in unexpected situations,and can reduce the rollover risk of the vehicle during the trajectory tracking of the intelligent bus.

关 键 词：智能客车 轨迹跟踪 姿态稳定 横向载荷转移率 垂向控制 侧翻风险 

分 类 号：U461.91[机械工程—车辆工程]