重庆理工大学学报2024，Vol.38Issue(7)：24-30,7.DOI:10.3969/j.issn.1674-8425(z).2024.04.004
四轮独立驱动汽车偏转差动协同转向路径跟踪
Research on trajectory tracking of deflection-differential coordinated steering for four-wheel independent drive vehicles
摘要
Abstract
To improve the path tracking performance of four-wheel independent drive vehicles under different speeds and tire-road friction coefficients, this paper designs a path tracking strategy through the collaboration of deflection steering and differential steering.Based on the 2DOF dynamic model, the front wheel deflection steering path tracking strategy is built by multi-point preview and linear quadratic regulator (LQR) , and the four wheel differential steering path tracking strategy is built by sliding mode control and four wheel torque optimization allocation.Fuzzy control is adopted to achieve the adaptive weight allocation of deflection and differential steering.The deflection-differential collaborative control strategy is built,consisting of a path tracking layer, a steering angle and torque allocation control layer.A co-simulation platform is also built for collaborative steering path tracking control and LQR deflection steering path tracking control using Carsim and Simulink.Simulations are conducted under double lane changing conditions with a speed of 54 km/h or 72 km/h and a road tire-road friction coefficient of 0.3 or 0.8.Our results indicate the collaborative steering path tracking improves both stability and lateral tracking accuracy under all operating conditions compared with LQR deflection steering path tracking.关键词
四轮独立驱动汽车/偏转差动协同转向/路径跟踪/模糊变权重控制Key words
four-wheel independent drive vehicles/deflection-differential cooperative steering/path tracking/variable weight coefficient control分类
交通工程引用本文复制引用
刘晋霞,上官智翔,杜现斌,闫笑笑..四轮独立驱动汽车偏转差动协同转向路径跟踪[J].重庆理工大学学报,2024,38(7):24-30,7.基金项目
山东省自然科学基金项目(ZR2020ME085、ZR2022QE048) （ZR2020ME085、ZR2022QE048）
