考虑稳定边界和侧倾稳定的车辆路径跟踪控制  

Vehicle Path Tracking Control Considering Stability Boundaries and Roll Stability

作　　者：唐传茵[1] 潘律 李静红 章明理 TANG Chuan-yin;PAN Lyu;LI Jing-hong;ZHANG Ming-li(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China;School of Mechanical Engineering,Shanghai Dianji University,Shanghai 201306,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819 [2]上海电机学院机械学院,上海201306

出　　处：《东北大学学报（自然科学版）》2024年第8期1123-1134,共12页Journal of Northeastern University(Natural Science)

基　　金：中央高校基本科研业务费专项资金资助项目(N2103028)。

摘　　要：为了解决无人驾驶车辆的路径跟踪任务中跟踪精度和车辆稳定性之间的冲突问题,提出了一种考虑横向和侧向稳定的路径跟踪控制器.首先以四轮独立驱动智能车为研究对象,设计了一种基于主动转向和电机驱动扭矩分配的整体模型预测控制器,以保证车辆在极端工况下的稳定和跟踪精度.然后通过相位图法和轮胎最大侧偏角设计车辆稳定性约束以优化动力学性能,利用零力矩方法建立侧倾约束,防止侧倾.最后在仿真中对比现有控制器,结果表明,所提出的控制器能够最大化地发挥车辆动力学极限,并在保证车辆稳定性的同时提高车辆的路径跟踪精度.To address the conflict between tracking accuracy and vehicle stability in the path tracking task of autonomous vehicles,a path tracking controller considering lateral and roll stability was proposed.Firstly,a four-wheel independently-driven intelligent vehicle is taken as the research object to develop an integrated model predictive controller based on active steering and motor-driven torque distribution to ensure vehicle stability and tracking accuracy under extreme conditions.Secondly,vehicle stability constraints are designed using the phase plot method and the maximum side slip angle of tires to optimize dynamic performance,while roll constraints are established using the zero-moment method to prevent rollover.Finally,simulations comparing the proposed controller with the existing ones demonstrate that the new controller can maximize vehicle dynamics to the fullest,and enhance path tracking precision while concurrently ensuring vehicle stability.

关 键 词：横向稳定边界 侧倾稳定性 路径跟踪控制 智能车 模型预测控制 

分 类 号：U270.1[机械工程—车辆工程]