纯电动大客车紧急避让路径跟踪研究

Research on emergency avoidance trajectorytracking of pure electric buses

紧急避让辅助驾驶技术是实现大客车无人驾驶的关键技术之一.引入曲率连续变化三次B样条函数设计紧急避让路径,基于二自由度的车辆动力学原理,设计出线性滑模的自抗扰路径和跟踪控制器,对汽车的横摆角速度进行操控,以便于对规划路径理想横摆角速度进行跟踪.基于Trucksim软件建立后驱纯电动大客车模型,其控制效果验证通过结合Simulink和Trucksim的仿真方法来实现.依据仿真结果可知,当出现外界侧向风干扰的情况下,采用路径轨迹控制器,不仅有利于纯电动大客车跟踪理想规划路径,还可保证车辆高速安全避让前方车辆.

Emergency avoidance driver assistance technology is one of the key technologies for achieving driverless buses.The cubic B spline with 3 continuously changing curvature is introduced to design an emergency avoidance trajectory.Based on the 2-DOF vehicle dynamics,an active-disturbance-rejection and trajectory tracking controller of the linear sliding mode is designed to control the actual yaw velocity of the vehicle,thus tracking the ideal yaw rate of the planned trajectory.Trucksim is used to establish a rear-drive electric bus model,and the control effect is verified by joint simulationin Trucksim and Simulink.The simulation results show that when there is external lateral wind as interference,adopting the trajectory tracking controller could help pure electric buses to track the ideal planned trajectory and ensures that the buses safely avoid the vehicles ahead at high speed.