中国机械工程2024，Vol.35Issue(6)：962-972,11.DOI:10.3969/j.issn.1004-132X.2024.06.002
计及质心侧偏角动态自适应的无人驾驶汽车横坡弯道跟踪控制
A Lateral Slope Curve Tracking Control for Autonomous Vehicles Considering Dynamic Adaptive Sideslip Angles
摘要
Abstract
To address the problems that the autonomous vehicle deviated from the expected trajec-tory at the lateral slope curve,and even losed stability owing to severe sideslipping,a dynamic adap-tive control strategy for sideslip angle was proposed.To overcome the change of tire cornering stiff-ness caused by the changes of vertical loads of the vehicles,the load matching diagram was obtained by fitting multiple sets of data.Then,a lateral trajectory tracking controller was designed based on the model prediction control algorithm.In line with the entry speed of the vehicles into the turn,the prediction horizon was selected.Meanwhile,the transient-state and steady-state sideslip angle were selected in line with the road curve.Through online optimization,the optimal front wheel steering an-gle was generated.Finally,the CarSim/Simulink joint online simulation system and the real vehicles system were established for verification.The results demonstrate that the proposed control strategy may ensure that the vehicles will not have serious sideslip under the lateral slope inclination angle of around 7％and the curved road.In addition,the proposed control strategy improves the tracking accu-racy of the autonomous vehicles in the lateral slope curve tracking task and makes the vehicles have good lateral stability.关键词
无人驾驶汽车/模型预测控制/质心侧偏角/横坡弯道Key words
autonomous vehicle/model prediction control/sideslip angle/lateral slope curve分类
交通工程引用本文复制引用
张玮,高爱云,付主木,赵恩会,陈芊安..计及质心侧偏角动态自适应的无人驾驶汽车横坡弯道跟踪控制[J].中国机械工程,2024,35(6):962-972,11.基金项目
国家自然科学基金(62371182) （62371182）
