基于转向与制动协同的无人车辆轨迹跟踪控制

doi:10.12305/j.issn.1001-506X.2023.04.27

摘要/Abstract

摘要：

针对无人车辆轨迹跟踪控制在极端工况条件下的车辆失稳问题, 提出一种考虑车辆横摆稳定性的前轮转向与差动制动分层协同轨迹跟踪控制策略。首先, 顶层策略基于模型预测控制算法设计, 控制输出为前轮转角, 以实现常规工况下的期望轨迹跟踪控制; 其次, 底层策略基于滑模控制算法设计, 得到车辆维持路径跟踪所需的附加横摆力矩, 以提高极限复杂工况的横摆稳定性; 进而, 引入差动制动控制策略对单独车轮制动力矩进行动态分配。整车联合仿真结果表明, 所提出的转向与制动分层协同轨迹跟踪控制策略及算法, 在高速低附紧急避障工况下, 能够有效避免车辆侧滑失稳, 明显提高车辆稳定性及轨迹跟踪精度。

关键词: 无人车辆, 高速低附, 紧急避障, 轨迹跟踪, 分层协同

Abstract:

Aiming at the instability problem of autonomous vehicle during trajectory tracking control under extreme road conditions, a layered cooperative trajectory tracking control method utilizing front wheel steering and differential braking is proposed. Firstly, based on the model predictive control algorithm, the upper-layer trajectory tracking controller is designed to control the steering angle of the front wheel to achieve the desired trajectory tracking control under normal working conditions. Secondly, based on the sliding mode control algorithm, the bottom-layer yaw stability controller is designed to obtain the additional yaw moment required for maintaining trajectory tracking stability. Furthermore, a differential braking control strategy is introduced to dynamically distribute the braking torque of individual wheels. The co-simulation results show that the proposed hierarchical cooperative trajectory tracking control method can effectively improve the vehicle stability and trajectory tracking accuracy under extreme road conditions.

Key words: autonomous vehicle, high-speed low friction, emergency obstacle avoidance, trajectory tracking, hierarchical coordination

中图分类号:

U461

李尧尧, 郭超然, 李杨, 赵玉壮. 基于转向与制动协同的无人车辆轨迹跟踪控制[J]. 系统工程与电子技术, 2023, 45(4): 1185-1192.

Yaoyao LI, Chaoran GUO, Yang LI, Yuzhuang ZHAO. Trajectory tracking control of autonomous vehicle based on steering and braking coordination[J]. Systems Engineering and Electronics, 2023, 45(4): 1185-1192.

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参数	数值
整备质量m/kg	2 210
质心到前轴距离l_f/mm	1 070
质心到后轴距离l_r/mm	2 232
转动惯量I_z/(kg·m²)	4 331.6
侧偏刚度C_c/(N/rad)	80 231
轮距B/mm	1 900
质心高度h/mm	660

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