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为研究具有参数不确定性的自动化公路系统车道保持控制,假定车辆质量、转动惯量、轮胎侧偏刚度等不确定参数有界,基于位置预瞄策略和车辆侧向动力学模型,建立预瞄点处的车辆横向位置误差和横摆角误差动态方程;采用终端滑模控制方法,设计车道保持变结构控制规律;基于李雅普诺夫稳定性理论,对控制系统的稳定性进行分析.仿真结果显示,该文设计的控制规律可使车辆侧向位置误差与横摆角误差具有较快的收敛率.
In order to study the lane keeping control of an automated highway system with parameter uncertainty, the pre-aiming point is established based on the location pre-sight strategy and vehicle lateral dynamics model, assuming that the uncertain parameters such as vehicle mass, moment of inertia and tire lateral stiffness are bounded. The dynamic equation of vehicle lateral position error and yaw angle error is designed.Using the terminal sliding mode control method, the lane keeping variable structure control law is designed.According to the Lyapunov stability theory, the stability of the control system is analyzed.The simulation results show that, The control law of the article design can make vehicle lateral position error and yaw angle error have faster convergence rate.