分布式驱动无人车路径跟踪与稳定性协调控制

Integrated Control of Unmanned Distributed Driven Vehicles Path Tracking and Stability

针对无人车路径跟踪过程中跟踪效果与车辆稳定性这一多目标控制问题,基于分层控制理论提出了一种分布式驱动无人车辆路径跟踪与稳定性协调控制策略。建立了车辆动力学模型和路径跟踪模型,利用滑模控制方法设计了上层控制器,旨在减小路径跟踪过程中的航向偏差和横向偏差的同时确保车辆自身的稳定性。在下层控制器中,设计了一种四轮轮胎力优化分配方法,根据上层控制器需求,结合车辆横摆与侧倾稳定性情况,实现四轮轮胎力的定向控制分配。基于CarSim和Simulink搭建了联合仿真模型并进行仿真实验,结果表明,提出的协调控制策略能够有效地控制车辆路径跟踪中的航向偏差和横向偏差,同时确保车辆的侧倾与横向稳定性。

In order to investigate the multi-objective control problem of path following effect and vehicle stability in the path following process of unmanned vehicles, an integrated path following and stability control strategy of unmanned distributed driven vehicle is proposed in this paper using the hierarchical control theory. The vehicle dynamics model and path tracking model are established and the upper layer controller is designed using the sliding mode control method to reduce the course deviation and lateral deviation in the course of path tracking and ensure the stability of the vehicle itself. In the lower layer controller, a four-wheel-tire-force optimal allocation method is presented, which can achieve the orientated control allocation of four wheel tire forces according to the control demand of upper layer controller and the stability degree of vehicle yaw and roll. The co-simulation model is established based on CarSim and Simulink and the simulation verification is carried out. The results show that, the proposed integrated control strategy can effectively control the course deviation and lateral deviation in vehicle path tracking and ensure vehicle roll and lateral stability.