基于滑模控制的跟随车辆纵向研究

Research on Longitudinal Control of Following Vehicle Based on Sliding Mode Control

在智能车辆的自动跟车过程中,因路况复杂常需加减车速或改变运动方向,在回正过程往往会造成车辆间距的误差增加,为使智能车辆速度与加速度更快更准确地到达平衡点,基于滑模控制设计了纵向控制器,通过车辆队列模型,验证控制器对车间距以及速度控制的稳定性。通过建立运动学和纵向动力学模型,进行载荷分析,运用滑模控制算法对纵向控制器进行设计,并通过耦合反步滑模横向控制器对预期轨迹进行控制。通过CarSim与MATLAB/Simulink联合仿真,与传统PID控制下的车间距误差做对比,验证了滑模纵向控制器的控制效果。

In the automatic following process of intelligent vehicles, due to the complex road conditions, it is often necessary to increase or decrease the speed or change the direction of movement. In the process of returning the steering wheel to the right, the error of vehicle spacing is often increased. In order to make the speed and acceleration of intelligent vehicles reach the equilibrium point faster and more accurately, this paper designs the longitudinal controller based on sliding mode control, and verifies the stability of the controller’s control over the vehicle spacing and vehicle speed through the vehicle queue model. Through the design of kinematics model and the establishment of longitudinal dynamic model, conduct the load analysis. By the use of sliding mode control algorithm,design the longitudinal controller, and through the coupling backstepping sliding mode lateral controller, control the expected trajectory.Through the co-simulation in CarSim and MATLAB/Simulink, the control effect of the sliding mode longitudinal controller is verified by comparing the vehicle spacing error of the traditional PID control under the sliding mode control.