基于协同转向的智能车辆轨迹跟踪控制研究  

Research on Intelligent Vehicle Trajectory Tracking Control Based on Cooperative Steering

作　　者：邓盈[1] 易迎春 黄逊 DENG Yin;YI Yingchun;HUANG Xun(Department of Architecture and Civil Engineering,Fuzhou Polytechnic,Fuzhou,Fujian 350108,China;School of Mechanical and Automotive Engineering,Fujian University of Technology,Fuzhou,Fujian 350118,China)

机构地区：[1]福州职业技术学院建筑工程学院,福建福州350108 [2]福建理工大学机械与汽车工程学院,福建福州350118

出　　处：《闽江学院学报》2024年第5期19-30,共12页Journal of Minjiang University

摘　　要：以分布式驱动智能车辆为研究对象,针对轨迹跟踪的可靠性、安全性问题,提出一种自主转向结合差动转向的协同转向控制方法。采用分层控制架构,上层轨迹跟踪控制器根据车速变化得到模型预测控制器的最优预测时域,输出车辆理想前轮转角,实现自主转向控制,并基于线性二次型最优控制方法设计分布式驱动车辆的差动转向控制。下层控制器采用动态分配方法实现车辆的转矩分配。最后通过相关仿真软件对自主转向轨迹跟踪控制、协同转向轨迹跟踪控制和轨迹跟踪容错控制进行仿真验证,仿真结果表明协同转向轨迹跟踪控制比自主转向轨迹跟踪控制具有更高的轨迹跟踪精度,并在自主转向失效的情况下仍能实现轨迹跟踪控制。The research focuses on distributed drive intelligent vehicles and addresses the issues of reliability and safety in trajectory tracking.A cooperative steering control method,which combines autonomous steering with differential steering,is proposed.The method utilizes a layered control architecture,where the upper trajectory tracking controller adjusts the prediction time domain of the model predictive controller based on changes in the vehicle′s speed.It determines the ideal front wheel angle and enables autonomous steering control.Additionally,the differential steering control for distributed drive vehicles is designed based on the linear quadratic optimal control method.The lower layer controller employs a dynamic distribution method to effectively allocate torque across the vehicle.Finally,simulation and validation are conducted using relevant software to assess the performance of autonomous steering trajectory tracking control,cooperative steering trajectory tracking control,and trajectory tracking fault-tolerant control.The simulation results demonstrate that cooperative steering trajectory tracking control exhibits higher accuracy in trajectory tracking compared to autonomous steering trajectory tracking control.Furthermore,the system is capable of achieving trajectory tracking even in the event of autonomous steering failure.

关 键 词：智能车辆 轨迹跟踪 协同转向 模型预测控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]