低附着路面下的车辆横向控制研究

Research on Vehicle Lateral Control under Low Adhesion Road Surface

现有的横向控制技术可以保证车辆在简单环境内行驶,但在低附着系数路面环境下的行驶存在路径跟踪效果差、车辆稳定性低等现象。为解决此类问题,文章将对智能车辆横向控制展开研究。文章设计的了一种上层采用变增益模糊滑膜控制、下层采用模糊比例微分积分(PID)控制的双层横向控制算法,在增强操纵稳定性的基础上,提升智能车辆在低附着路面下的控制效果。采用MATLAB/Simulink与CarSim的联合仿真形式,选择双移线工况和定曲率工况来验证其性能。仿真结果表明,文章设计的车辆横向控制器控制的车辆路径跟踪精度高,行驶稳定性良好。

The existing lateral control technology can ensure the vehicle running in a simple environment,but the path tracking effect is poor and the vehicle stability is low in the road environment with low adhesion coefficient.In order to solve this problem,the horizontal control of intelligent vehicle will be studied in this paper.In this paper,a two-layer lateral control algorithm using fuzzy synovial film control on the upper layer and fuzzy proportion integration differentiation(PID)control on the lower layer is designed.On the basis of enhancing the handling stability,the control effect of intelligent vehicle under low adhesion road surface is improved.The co-simulation form of MATLAB/Simulink and CarSim is used to verify its performance by selecting double line shifting condition and constant curvature condition.The simulation results show that the vehicle lateral controller designed in this paper has high path tracking accuracy and good driving stability.