摘要
文章提出了一种前馈加反馈的自动转向控制方法,在前馈控制方法中考虑车辆运动学关系、轮胎不足转向等因素,而反馈控制方法根据车辆位置与目标轨迹之间的偏差进行补偿转向转角,解决因静态方向盘转角误差、外界侧向风及弯道下车辆高速离心力等多种因素导致的车辆横向偏差。经过实车试验验证,该算法在多种场景下进行测试,验证了该算法的可靠性与稳定性。
In this paper, an automatic steering control method for feed forward and feedback is proposed. The vehicle kinematics and tire cornering steering are considered in the feed forward control method, and the feedback control method compensates the steering angle according to the deviation between the vehicle position and the target trajectory to solve the lateral deviation of vehicle caused by the static steering wheel angle error, the external side wind and the high speed centrifugal force of the vehicle under the bend. Through the real vehicle test, the algorithm is tested under many driving conditions, which verifies the reliability and stability of the vehicle control algorithm.
出处
《上海汽车》
2018年第7期58-62,共5页
Shanghai Auto
