交通信息与安全2023，Vol.41Issue(6)：61-70,10.DOI:10.3963/j.jssn.1674-4861.2023.06.007
低附着下分布式驱动车辆的路径跟踪与横向稳定性控制方法
Path Tracking and Lateral Stability Control for Distributed Drive Vehicles with Low Adhesion
摘要
Abstract
Due to the coupling relationship between tracking and lateral stability of vehicles under low adhesion conditions(such as snow and moisture),it is difficult to control both tracking accuracy and good stability simultane-ously.Therefore,a joint control model of path tracking and lateral stability is proposed based on distributed indepen-dent drive electric vehicle platform.The transverse and longitudinal decoupling control is adopted for the path track-ing problem.Besides,the model predictive control(MPC)method based on Frenet coordinate system is adopted for the horizontal tracking control problem,and angle compensation strategy is introduced to improve the accuracy of path tracking.For the longitudinal speed control problem,the model uses MPC to solve the expected acceleration,and determines the motor torque output according to the driving balance equation and the maximum utilization rate of road adhesion,so as to achieve the longitudinal speed control.For lateral stability control,a yaw torque control model based on stability augmentation system(STA)is proposed.After additional torque is obtained,it is effective-ly distributed to each wheel by quadratic programming method,thus enhancing the lateral stability of the vehicle.Moreover,the CarSim/Simulink co-simulation platform is used to simulate and verify the double-shift road condi-tions.The results show that under the condition of snow-covered pavement,the maximum lateral deflection angle of the improved model is reduced by 83.1%compared with the traditional MPC under the condition that the lateral er-ror is close.Under wet road conditions,the maximum lateral error and the maximum lateral deflection angle of the improved model are reduced by 52.2%and 83.3%,respectively,compared with the traditional MPC model.Com-pared with the traditional synovial model,this model can effectively suppress the oscillation phenomenon when the tracking error and the side deflection angle of the center of mass are dominant.Through the joint control,the stabili-ty and safety of the vehicle on the low adhesion road surface can be enhanced.关键词
智能交通/无人驾驶/四驱车/横向稳定性/模型预测控制/滑模控制Key words
intelligent transportation/driverless/four-wheel drive/lateral stability/model predictive control/slid-ing mode control分类
交通工程引用本文复制引用
杨炜,谭亮,杜亚峰,孙雪,张宇杰..低附着下分布式驱动车辆的路径跟踪与横向稳定性控制方法[J].交通信息与安全,2023,41(6):61-70,10.基金项目
国家重点研发计划项目(2021YFE0203600)、陕西省自然科学基金青年项目(2017JQ6045)资助 （2021YFE0203600）
