分布式无人车路径跟踪的行驶稳定性控制方法  

Stability Control of Distributed Unmanned Vehicle Path Tracking

作　　者：周枫林 陈腾飞 游雨龙 王瑾元 汤迎红[1] ZHOU Fenglin;CHEN Tengfei;YOU Yulong;WANG Jinyuan;TANG Yinghong(School of Mechanical Engineering,Hunan University of Technology,Zhuzhou 412007,Hu′nan,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]湖南工业大学机械工程学院,湖南株洲412007 [2]南京航空航天大学自动化学院,南京210016

出　　处：《机械科学与技术》2025年第1期109-116,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(11602082);湖南省自然科学基金项目(2021JJ30211)。

摘　　要：针对分布式无人车路径跟踪过程中的跟踪效果以及车辆稳定性这一多目标控制问题,研究了一种基于双层控制理论的协调控制策略。该策略采用上下两层的控制框架。其中上层控制框架中设计了基于MPC的路径跟踪控制器和基于自适应模糊PID的横摆力矩控制器,以权值切换函数协调两个控制量输出,在减小路径跟踪横向偏差的同时确保车辆具备良好的响应特性;在下层控制中,设计了基于稳定性滑转率控制和基于确定性力矩的四轮力矩最佳分配方式,用于执行上层控制器计算得到的控制需求,避免无人车产生侧滑并精确把控无人车上层架构所需求的横摆力矩,以保证无人车行驶的稳定性。通过在CarSim/Simulink进行仿真及实车试验,验证了所提控制策略的有效性。Aiming at the multi-objective control problem of tracking effect and vehicle stability in distributed unmanned vehicle path tracking process,a coordinated control strategy based on hierarchical control theory was proposed and studied.The strategy adopts a two-layer control framework.In the upper control framework,MPC based path tracking controller and adaptive fuzzy PID based yaw torque controller are designed,and the weight switching function is used to coordinate the two control outputs,which can reduce the lateral deviation of path tracking and ensure the vehicle has good response characteristics.In lower level control,designed based on the stability of slip rate control and four wheel torque optimal allocation based on deterministic torque,used to perform the upper controller to calculate the control demand,avoid empty car sideslip and precision meet the unmanned vehicle demand the yawing moment of the architecture,to ensure the stability of unmanned vehicle driving.The effectiveness of the proposed control strategy is verified by simulation and real vehicle test in CarSim/Simulink.

关 键 词：分布式无人车 路径跟踪 自适应模糊PID 稳定性控制 

分 类 号：TG156[金属学及工艺—热处理]