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为实现四轮前后轮转向车辆的稳定车道线保持控制,提出集成直接横摆力矩和车道线保持的串级控制策略.主控制器实现车道线保持前轮转角控制.副控制器实现车辆稳定性控制.主控制器基于MPC(model predictive control)算法控制车辆前轮转角,通过调整前轮转角使得横向位置偏差和航向角偏差最小.主控制器的车辆前轮转角作为副控制器的输入,计算期望滑移角和期望横摆率.车辆后轮转角和横摆力矩作为副控制器控制输入,基于LQ(linear quadratic)算法计算补偿车辆后轮转角和横摆力矩,实际车辆滑移角和实际横摆率跟踪期望滑移角和期望横摆率.车辆的前轮转角、后轮转角和横摆力矩作为控制输入,在副控制器实现车辆稳定性控制基础上,主控制器实现准确地车道线保持控制,保证智能车辆在车道内自主安全行驶.仿真结果表明,该串级控制策略的有效性,提高了智能车辆车道线跟踪的准确性,也提高车辆的稳定性和操纵性.
In order to realize the stable lane keeping control of front and rear wheel vehicles with four wheels, a cascade control strategy integrating direct yaw moment and lane keeping is put forward. The main controller realizes the control of the front wheel angle of the lane line and the secondary controller realizes vehicle stability Control.The main controller controls the front wheel angle of the vehicle based on the model predictive control (MPC) algorithm and minimizes the lateral position deviation and the heading angle deviation by adjusting the front wheel angle.The front wheel angle of the main controller is used as the input of the sub-controller to calculate The expected slip angle and the expected yaw rate.The vehicle rear wheel angle and yaw moment as the secondary controller control input, based on LQ (linear quadratic) algorithm to calculate the vehicle rear wheel angle and yaw moment, the actual vehicle slip angle and the actual The yaw rate follows the desired slip angle and the desired yaw rate.The front wheel angle, rear wheel angle and yaw moment of the vehicle are used as control inputs. Based on the sub-controller’s control of vehicle stability, the main controller realizes accurate lane Line to maintain control, to ensure that intelligent vehicles in the lane autonomy and safety driving simulation results show that the cascade control strategy is effective to improve the smart car Tracing accuracy, and also improve the stability and handling of the vehicle.