摘要
为提高无人驾驶车辆在高速转向工况下的路径跟踪精度与行驶稳定性,基于三自由度单轨车辆模型与模型预测控制理论,分析前轮转角约束对车辆跟踪精度与行驶稳定性的影响,提出一种自适应于侧向附着力的路径跟踪控制方法。以Pacejka’89魔术公式轮胎模型为基础,分析轮胎纵向受力,以此推算轮胎的侧向附着力,从而建立前轮转角约束随车辆状态不断改变的自适应策略。为验证该控制器的控制效果,搭建了CarSim与MATLAB/Simulink联合仿真平台进行仿真实验。结果表明,在保证车辆跟踪精度的前提下,该控制器具有更好的行驶稳定性。
In order to improve the tracking accuracy and driving stability of self-driving vehicles under extreme conditions,based on a three-degree-of-freedom monorail vehicle model and model predictive control theory,the influence of front wheel rotation angle constraint on the vehicle tracking accuracy driving stability is analyzed,and a path tracking control method adaptive to lateral adhesion is proposed.Based on Pacejka’89 magic formula tire model,the longitudinal force of the tire was analyzed to estimate the lateral adhesion of the tire,so as to establish an adaptive strategy for front wheel rotation constraint that changes continuously with the vehicle state.In order to verify the control effect of the proposed controller,a CarSim and MATLAB/Simulink joint simulation platform was set up to carry out simulation experiments.The results show that the designed controller has better driving stability on the premise of ensuring vehicle tracking accuracy.
作者
柳亚子
江洪
于文浩
石贞洪
韦峻
Liu Yazi;Jiang Hong;Yu Wenhao;Shi Zhenhong;Wei Jun(School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu,China;School of Mechanical Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu,China)
出处
《计算机应用与软件》
北大核心
2022年第3期68-74,共7页
Computer Applications and Software
基金
国家自然科学基金项目(51975254)。
关键词
无人驾驶车辆
模型预测控制
路径跟踪
侧向附着力
Self-driving vehicles
Model predictive control
Path tracking
Lateral adhesion
