摘要
为了较为真实地反映车辆转弯制动工况,建立了含Pacejka"魔术公式"非线性联合工况轮胎模型的4轮8自由度车辆系统模型,并基于预瞄跟随理论、加速度反馈控制和模糊PID控制技术建立了车辆转弯制动横向轨迹控制驾驶员模型。针对不同初始速度和制动强度,利用MATLAB/Simulink进行了横向轨迹控制仿真分析。分析结果表明,驾驶员控制模型能很好地跟踪横向轨迹,模型的可行性和有效性得到验证,同时不同仿真条件下结果的一致性也说明该控制方法具有较强的自适应能力和鲁棒性,为进一步研究复杂工况下的驾驶员模型及横向轨迹控制提供了一条可行的途径。
In order to simulate the vehicle＇ s real situation of combined steering and braking maneuvers, a fourwheel-eight-degree vehicle system model including nonlinear combination load condition of Pacejka Magic Formula Tire Model was built. Based on preview-follower theory, acceleration feedback control and fuzzy PID control method,the driver model of lateral course control of combined steering and braking maneuvers was presen computer simulations were carried out with MATLAB/Simulink for different initial velocities and different ted. The braking decelerations.The results show that （1） the driver model can follow the lateral course very well; （2） the performance of the model proposed is satisfied and the control model is rational and effective. Meanwhile, the consistence of different simulation results indicates that this control method is robust and adaptive. It provides an applicable way to the research on driver model and lateral course control under much more complicated situations.
出处
《公路交通科技》
CAS
CSCD
北大核心
2008年第7期146-150,共5页
Journal of Highway and Transportation Research and Development
基金
重庆市科委自然科学基金项目(CSTC2006BA6017,CSTC2006BB6004)
关键词
汽车工程
驾驶员模型
模糊PID控制
转弯制动
横向轨迹
automobile engineering
driver model
fuzzy PID control
steering and braking maneuver
lateral course
