一种自动驾驶汽车四轮转向过程稳定控制方法  

A Stability Control Method for Four Wheel Steering Process of Autonomous Vehicle

作　　者：黄志杰[1] 韦相福 HUANG Zhijie;WEI Xiangfu(Department of Automotive Engineering,Guangxi Transport Vocational and Technical College,Guangxi Nanning530216,China;School of Mechanical Engineering,Guangxi University,Guangxi Nanning 530003,China)

机构地区：[1]广西交通职业技术学院汽车工程学院,广西南宁530216 [2]广西大学机械工程学院,广西南宁530003

出　　处：《机械设计与制造》2025年第4期60-65,71,共7页Machinery Design & Manufacture

基　　金：广西科技重大专项—限定区域和特定场景智能网联汽车技术开发与示范应用(桂科AA22068101);2020年广西高校中青年教师科研基础能力提升项目—基于ROS的自动驾驶智能车的研究与实现(2020KY34003)。

摘　　要：在高速行驶或紧急避障时,四轮转向(4WS)车辆相较于前轮转向(FWS)车辆具有更高的灵活性,其后轮转向在提高车辆操稳性的同时转向阻力矩也发生变化,使得原电动助力转向系统助力策略与四轮转向车辆横摆角速度和质心侧偏角的控制权重不匹配,发生侧滑或失稳现象。提出一种自动驾驶汽车四轮转向稳定控制方法。以车辆附着系数作为约束条件建立汽车四轮转向的控制目标函数。在此基础上通过角速度反馈技术,结合β-Method理论分配自动驾驶汽车的横摆角速度和质心侧偏角的控制权重。结合权重与目标函数,并通过零质心侧偏角控制和动态轮胎侧偏角边界控制,进一步提升汽车四轮转向控制的稳定性,实现自动驾驶汽车四轮转向稳定控制。实验结果表明:所提方法可将前轮转向角、横摆角速度和车身侧偏角控制在期望值附近,并将后轮转角与质心侧偏角控制在0附近,具有较高的控制精度。During high-speed driving or emergency obstacle avoidance,four-wheel steering(4WS)vehicles have higher flexibil⁃ity compared to front wheel steering(FWS)vehicles.While rear wheel steering improves vehicle handling stability,the steering re⁃sistance moment also changes,resulting in a mismatch between the original electric power steering system's assist strategy and the control weight of the four-wheel steering vehicle's yaw rate and center of mass sideslip angle,leading to sideslip or instability.A four wheel steering stability control method for autonomous vehicle is proposed.Establish a control objective function for fourwheel steering of vehicles using vehicle adhesion coefficient as a constraint condition.On this basis,through angular velocity feed⁃back technology,combined withβ-Method theory assigns the control weight of yaw rate and sideslip angle of mass center of au⁃tonomous vehicle.Combining weight and objective function,and through zero centroid sideslip angle control and dynamic tire sideslip angle boundary control,further improve the stability of four-wheel steering control,and achieve four-wheel steering sta⁃bility control of autonomous vehicle.The experimental results show that the proposed method can control the front wheel steering angle,yaw rate,and body sideslip angle around the expected values,and control the rear wheel angle and center of mass sideslip angle around 0,with high control accuracy.

关 键 词：角速度反馈 四轮转向控制 综合反馈控制器 零质心侧偏角控制 稳定控制 

分 类 号：TH16[机械工程—机械制造及自动化] U461.3[机械工程—车辆工程]