基于双效滑模控制策略的轨迹跟踪仿真研究  

Simulation Study of Trajectory Tracking Based on Dual-Effect Sliding Mode Control Strategy

作　　者：郭婧博 刘飞 

机构地区：[1]上海工程技术大学,机械与汽车工程学院,上海

出　　处：《建模与仿真》2023年第2期867-877,共11页Modeling and Simulation

摘　　要：本文提出一种适用度较高的自动驾驶汽车轨迹跟踪控制策略。以车辆横向运动为控制目标,首先以车辆质心侧偏角、横摆角速度和横向位移为控制变量,构建三自由度车辆动力学模型。其次针对车辆行驶产生的横向偏差,采用滑模控制方法设计双效控制策略,计算补偿前轮转向角反馈给车辆,进而调整车辆跟踪精度。最后在双移线路径下进行仿真,并与传统Stanley方法进行对比分析,结果表明,所设计控制系统的跟踪策略不仅具有较好的鲁棒性,同时适用于急速转向等紧急工况,跟踪控制精度方面更是提升了20%~50%,打破了以往跟踪控制策略的局限性。This paper proposes a trajectory tracking control strategy for autonomous vehicles with high ap-plicability. Taking the lateral motion of the vehicle as the control target, firstly, a three-degree- of-freedom vehicle dynamics model is constructed with the vehicle center-of-mass lateral deviation angle, transverse swing angular velocity and lateral displacement as the control variables. Secondly, for the lateral deviation generated by the vehicle driving, the sliding mode control method is used to design a dual-effect control strategy to calculate the compensated front wheel steering angle feedback to the vehicle, and then adjust the vehicle tracking accuracy. The results show that the tracking strategy designed by the control system not only has good robustness, but also is suitable for emergency conditions such as rapid steering, and the tracking control accuracy is improved by 20%~50%, which breaks the limitations of the previous tracking control strategy.

关 键 词：轨迹跟踪 滑模控制 跟踪策略 横向位移 横向偏差 前轮转向 控制变量 适用度 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]