智能电动车横向控制策略研究

Research on Lateral Control Strategy of Intelligent Electrical Vehicle

针对智能电动车自动横向控制,建立了车辆横向动力学模型,设计了电动车转向控制器的模型预测(MPC)算法。将前轮转角作为控制输入变量,与期望轨迹的横向距离偏差、横摆角偏差及两者的变化率作为状态变量,控制器对车辆未来的状态变量进行预测,输出最优前轮转角,实现智能横向控制。在控制过程中,同时引入期望状态参数和系统松弛因子,优化车辆行驶状态。利用软件进行联合仿真,并进行实车试验。研究结果表明:控制器均能迅速响应,消除偏差,使车辆快速回到期望轨迹,保证车辆稳定平顺地行驶。

The vehicle lateral dynamic model was established according to the lateral control of intelligent electric vehicle,the steering controller of electric vehicle was designed based on the model predictive control(M PC in short)algorithm.The front wheel angle was used as the input variable.The horizontal distance deviation,the yaw angle deviation as well as their rates of changes were used as the state variables.The future states of the vehicle were predicted by the controller,and then the optimal front wheel angle was outputted to achieve the realization of intelligent lateral control.The desired state parameter and the relaxation factor of the system are both introduced to optimize the vehicle running state in the control process.The software joint simulations and real vehicle test were used to prove the process.The results showed that under different road conditions and vehicle status,the controller could respond quickly and eliminate the deviation,to ensure that the vehicle could quickly back to the desired trajectory,at the same time,to ensure the smooth running of the vehicle.