自动驾驶搅拌车横向控制设计及试验研究

Research on design and test for lateral control of autopilot mixer

车辆控制包含横向和纵向控制两部分,其中横向控制根据决策规划输出的路径、曲率等信息进行跟踪控制,不同的横向控制算法适用于不同的应用场景。本文分析了双前桥转向四轴搅拌车的动力学模型,结合搅拌车运行场景,提出了一种基于车辆动力学模型的横向控制算法(LQR),该算法考虑了路面曲率和道路坡度的前馈补偿。利用Matlab对该横向控制算法进行建模,仿真分析其动态响应特性,最后进行实车道路测试。结果表明:LQR横向控制算法适合搅拌车的工作场景,能够兼顾搅拌车的行驶稳定性和乘坐的舒适性。

Vehicle control includes lateral control and longitudinal control. Lateral control gives the planned path and cuvature to track and control and different lateral control algorithms are applied in corresponding situations. In this paper,firstly four-axle mixer with double front axles steering dynamic model is analyzed. Then in view of mixer working condition,a lateral control algorithm LQR based on the vehicle dynamics model is proposed,which utilizes the feed forward compensation of pavement curvature and road slope. Secondly,the lateral control algorithm is modeled with Matlab,and dynamic response is analyzed by simulation.Finally,the road evaluation is tested. The result shows that the LQR is suitable for mixer running condition,which both take into account the driving stability and ride comfort.