考虑道路曲率和车辆稳定性的4WID智能车辆轨迹跟踪控制研究  

Research on trajectory tracking control of 4WID intelligent vehicle considering road curvature and vehicle stability

作　　者：邢迪 王红霞 周奎[2,3,4] 张子越 XING Di;ANG Hongxia;ZHOU Kui;ZHANG Ziyue(College of Mechanical Engineering,Hubei University of Automotive Technology,Shiyan 442000,China;Department of Sharing-X Mobile Service Technology Platform Joint Lab,Hubei University of Automotive Technology,Shiyan 442000,China;Hubei Provincial Key Laboratory of Automotive Power Transmission and Electronic Control,Hubei University of Automotive Technology,Shiyan 442000,China;College of Automotive Engineers,Hubei University of Automotive Technology,Shiyan 442000,China;College of Electrical and Information Engineering,Hubei University of Automotive Technology,Shiyan 442000,China)

机构地区：[1]湖北汽车工业学院机械工程学院,十堰442000 [2]湖北汽车工业学院Sharing-X移动服务技术平台联合实验室,十堰442000 [3]湖北汽车工业学院汽车动力传动与电子控制湖北省重点实验室,十堰442000 [4]湖北汽车工业学院汽车工程师学院,十堰442000 [5]湖北汽车工业学院电气与信息工程学院,十堰442000

出　　处：《现代制造工程》2025年第4期98-108,共11页Modern Manufacturing Engineering

基　　金：湖北省重点研发计划项目(2023BAB169);湖北省重大研发计划项目(2020AAA001);湖北省武汉市科技重大专项项目(2022013702025184);2022年武当人才计划科技领军人才项目(WDREJH-KJLJRC20221)。

摘　　要：针对在高速行驶、低附着路面和大曲率等危险工况下,车辆轨迹跟踪精度低、容易发生失稳的问题,以四轮独立驱动(Four-Wheel Independently Drive, 4WID)智能车辆作为研究对象,提出了一种考虑道路曲率和车辆稳定性的4WID智能车辆轨迹跟踪控制策略。首先,根据道路曲率实时计算车辆行驶速度,采用模型预测控制算法求解前轮转角,以跟踪期望路径;然后,基于积分滑模控制设计了附加横摆力矩控制器,使用双曲正切函数减小系统抖振,并根据车辆前后轴载荷进行力矩分配,控制目标是在考虑控制执行器约束和车辆稳定性约束的情况下,更加精确稳定地跟踪期望的轨迹;最后,在双移线工况和大曲率工况下进行了仿真实验,结果表明,所设计的控制策略能够有效提高轨迹跟踪精度,降低质心侧偏角峰值和横摆角速度峰值,并保证车辆的横摆稳定性和乘坐舒适性。Aiming at the problems of low precision of vehicle trajectory tracking and easy to be destabilized under the hazardous working conditions such as high speed driving, low adhesion road surface and large curvature conditions, taking the four-wheel independent drive intelligent vehicle as the research object, a trajectory tracking control strategy considering curvature adaptation and stability was proposed. Firstly, the vehicle traveling speed was calculated in real time according to the road curvature, and the model predictive control algorithm was used to solve the front wheel angle to track the desired path. Then, an additional transverse moment controller was designed based on integral sliding mode control, which used hyperbolic tangent function to reduce the system jitter and assigns moments according to the front and rear axle loads of the vehicle. The control objective was to track the desired trajectory more accurately and stably taking into account the control actuator constraints and vehicle stability constraints;finally, simulation experiments were conducted under double-shift line condition and large curvature condition, and the results show that the designed control strategy can effectively improve the trajectory tracking accuracy, reduce the peak center-of-mass lateral deflection angle and the peak swing angular velocity, and ensure the swing stability and ride comfort of the vehicle.

关 键 词：智能车辆 四轮独立驱动 轨迹跟踪 模型预测控制 滑模控制 

分 类 号：U461.6[机械工程—车辆工程] U469.72[交通运输工程—载运工具运用工程]