长沙理工大学学报（自然科学版）2023，Vol.20Issue(6)：159-169,11.DOI:10.19951/j.cnki.1672-9331.202200504001
分布式驱动电动汽车轨迹跟踪与横向稳定性协同控制
Cooperative control of trajectory tracking and lateral stability of distributed driven electric vehicle
摘要
Abstract
[Purposes]Aiming at the multi-objective control of vehicle lateral stability and tracking accuracy in the process of vehicle trajectory tracking,a cooperative control strategy of vehicle trajectory tracking and lateral stability based on extension set is proposed taking.[Methods]A unified vehicle model including vehicle trajectory tracking accuracy and lateral stability was established,the upper controller was realized based on sliding mode control strategy,and the steering angle for vehicle trajectory tracking and the direct yaw moment to improve lateral stability were planned.Combined with the extension set theory,an adaptive adjustment method of two control weights of trajectory tracking accuracy and lateral stability was proposed to realize the collaborative control of two control objectives.Taking advantage of the independent control of four wheel torques for distributed drive electric vehicle,a wheel torque distribution control strategy to maximize the utilization of road adhesion limit was proposed to achieve the purpose of reliable realization of direct yaw moment.[Findings]Applying the co-simulation of MATLAB/Simulink and CarSim,the proposed cooperative control strategy improves the vehicle lateral stability while ensuring the trajectory tracking accurate.[Conclusions]The simulation results show that the extension distance based on the vehicle lateral stability index can accurately evaluate the vehicle lateral stability,the proposed adaptive adjustment method of control weights can coordinate the trajectory tracking accuracy and lateral stability,and the torque distribution control strategy can reliably realize the direct yaw moment.关键词
横向稳定性/轨迹跟踪/分布式驱动电动汽车/转矩分配控制/可拓集合Key words
lateral stability/trajectory tracking/distributed drive electric vehicle/torque distribution control/extension set分类
交通工程引用本文复制引用
张志勇,金博文..分布式驱动电动汽车轨迹跟踪与横向稳定性协同控制[J].长沙理工大学学报（自然科学版）,2023,20(6):159-169,11.基金项目
国家自然科学基金资助项目(51675057) （51675057）
湖南省教育厅科学研究项目(18K049,20A018) Project(51675057)supported by the National Natural Science Foundation of China （18K049,20A018）
Projects(18K049,20A018)supported by the Scientific research project of Hunan Provincial Department of Education （18K049,20A018）
