四轮独立转向无人车辆斜向行驶轨迹跟踪控制方法

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doi:10.15918/j.tbit1001-0645.2022.052

张军^{1, 2,},
张闲^{1, 2,,},
张雪莹^{1, 2},
张焜^{1, 2}

1.
bob手机在线登陆机械与车辆学院，北京　100081
2.
电动车辆国家工程研究中心，北京　100081

详细信息

作者简介:
张军（1971—），男，副教授，硕士生导师，E-mail：bitzj@bit.edu.cn

通讯作者:
张闲（1997—），男，硕士生，E-mail：zhangxian_jlu@163.com

中图分类号:U461.6
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- 文章访问数:193
- HTML全文浏览量:65
- PDF下载量:42
- 被引次数:0
出版历程
- 收稿日期:2022-03-09

Trajectory Tracking Control Strategy for Oblique Driving of 4WIS Unmanned Vehicle

ZHANG Jun^{1, 2,},
ZHANG Xian^{1, 2,,},
ZHANG Xueying^{1, 2},
ZHANG Kun^{1, 2}

1.
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
2.
National Engineering Research Center of Electric Vehicles, Beijing 100081, China

摘要

摘要:针对四轮独立转向电动汽车转向系统成本高、但功能开发程度低的问题，提出一种车辆斜向行驶控制策略，优化四轮独立转向电动汽车换道过程中的行驶稳定性. 基于四轮独立转向电动汽车横向、纵向二自由度车辆模型，提出一种横纵向耦合轨迹跟踪控制方法，该方法基于线性时变模型采用模型预测控制（MPC）算法，对横向偏差、航向角偏差及纵向速度偏差进行闭环控制. 设计车辆稳定性控制器，包括横摆力矩控制器和转矩分配控制器，同时提高车辆轨迹跟踪精度和行驶稳定性. 最后搭建Simulink/Carsim/Prescan联合仿真平台，对四轮独立转向电动汽车双移线工况进行模拟换道仿真，仿真结果证明了斜向变道的可行性和横纵向耦合轨迹跟踪控制方法的有效性.
- 四轮独立转向电动汽车/
- 轨迹跟踪/
- 斜向行驶/
- 横纵向耦合/
- 线性时变
Abstract:Aiming at the problem of high cost of steering system of four-wheel independent steering electric vehicle (4WIS-EV) and less functional development, a vehicle oblique driving control method was proposed to optimize the driving stability of 4WIS-EV during lane changing. Firstly, based on the 4WIS-EV lateral and longitudinal two-degree-of-freedom vehicle model, a lateral and longitudinal coupled trajectory tracking control method was proposed. According to linear-time-variant (LTV) model and model predictive control (MPC) algorithm, a closed-loop control of lateral deviation, heading angle deviation and longitudinal speed deviation was carried out. And then, a vehicle stability controller was designed, including yaw moment controller and torque distribution controller to improve trajectory tracking accuracy and driving stability simultaneously. Finally, a Simulink/Carsim/Prescan co-simulation platform was built to carry out the lane-changing simulation of the 4WIS-EV in double-line shifting condition. The simulation results show the feasibility of the oblique lane change and the effectiveness of the lateral and longitudinal coupled trajectory tracking control method.
- four-wheel independent steering(4WIS-EV)/
- path tracking/
- oblique driving/
- horizontal and vertical coupling/
- linear-time-variant(LTV)

HTML全文

图 1单轨车辆预瞄模型

Figure 1.2DOF vehicle preview model

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图 2整车运动控制框图

Figure 2.Frame diagram of vehicle motion control

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图 3双移线换道仿真结果

Figure 3.Simulation results of double-line shifting

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图 4斜向行驶时滑转率曲线

Figure 4.Slip curve for inclined driving

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图 5两种转向系统下的轮胎侧偏角

Figure 5.Tire slip angle with two steering systems

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图 6模拟车辆换道

Figure 6.Vehicle lane change simulating

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参考文献 (11)

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