摘要
针对无人驾驶四轮独立驱动电动车在轨迹跟踪稳定性问题,研究了一种综合制动防抱死ABS、驱动防滑TCS和横摆控制YSC的稳定性控制策略。给出了整车控制逻辑,应用MATLAB/Simulink与CarSim软件建立仿真模型,分别设计ABS、TCS和YSC的控制策略,选定典型工况进行了控制策略验证。验证结果表明:控制策略能够同时保证无人驾驶四轮独立驱动电动车的轨迹跟踪的准确性和行驶稳定性。
Aiming at the trajectory tracking stability problem of autonomous four-wheel independent drive electric vehicle,a stability control strategy of integrated brake anti-lock ABS,drive anti-skid TCS and yaw control YSC is studied.The control logic of the whole vehicle is given.The simulation models are established by using MATLAB/Simulink and CarSim software.The control strategies of ABS,TCS and YSC are designed respectively,and the typical working conditions are selected to verify the control strategies.The verification results show that the control strategy can simultaneously ensure the accuracy of the trajectory tracking and driving stability of the autonomous four-wheel independent drive electric vehicle.
作者
金鸿耀
李刚
杜利民
JIN Hong-yao;LI Gang;DU Li-min(School of Automobile and Traffic Engineering,Liaoning University of Technology,Jinzhou 121001,China)
出处
《辽宁工业大学学报（自然科学版）》
2021年第2期105-110,114,共7页
Journal of Liaoning University of Technology(Natural Science Edition)
基金
国家自然科学基金面上项目(51675257)。
关键词
无人驾驶
四轮独立驱动
稳定性
控制策略
轨迹跟踪
autonomous driving
four-wheel independent drive
stability
control strategy
trajectory tracking
