基于稳定性的智能车辆综合控制方法

Integrated Control Method of Intelligent Vehicles Based on Stability

为提高智能车辆在行驶过程中的轨迹跟踪精度和横向稳定性,在模型预测控制器的基础上提出一种改进的轨迹跟踪方法。首先建立横纵向耦合的车辆动力学模型,采用模型预测控制理论设计线性时变模型预测控制器,然后对预测模型、约束条件和控制策略进行优化设计,最后在Carsim-Simulink联合仿真平台和JJUV-8实车平台进行实验验证。实验结果表明,在雨后路面上以15 m/s的速度跟踪双移线轨迹时,优化设计能够使最大横向偏差、最大航向偏差和最大质心侧偏角分别减小0.83 m、0.07 rad、0.4°。

In order to improve the trajectory tracking accuracy and lateral stability of intelligent vehicles during driving,an improved trajectory tracking method based on model predictive controller is proposed in this paper.Firstly,a lateral-longitudinal coupled vehicle dynamics model is established,and a linear time-varying model predictive controller is designed by using model predictive control theory.Then,the predictive model,constraints and control strategy are optimized.Finally,experiments are carried out on the Carsim-Simulink integrated simulation platform and JJUV-8 real vehicle platform.The results show that the optimal design can reduce the maximum lateral deviation,the maximum heading deviation and the maximum sideslip angle of the center of mass by 0.83 m,0.07 rad and 0.4°respectively when tracking the trajectory of double line-shifting at the speed of 15 m/s on the road after rain.