同济大学学报（自然科学版）2024，Vol.52Issue(z1)：185-196,12.DOI:10.11908/j.issn.0253-374x.24713
四轮独立驱动电动汽车轨迹跟踪及稳定性协调控制
Coordinated Control of Trajectory Tracking and Yaw Stability of Four-Wheel-Independent-Drive Autonomous Electric Vehicles
摘要
Abstract
To investigate the multi-objective control problem of trajectory tracking and vehicle stability,a hierarchical coordinated control strategy of trajectory tracking and yaw stability was proposed for four-wheel-independent-drive autonomous electric vehicles.In the upper controller,the linear-time-varying model predictive control(LTV MPC)was employed to generate the desired front road wheel steering angle and yaw moment,and the PID speed control embedded in the model predictive optimization solutions was introduced to generate the desired total driving/braking torque.In the lower controller,the generalized forces from the upper layer were allocated to the four wheels based on quadratic programming.An 8-degree-of-freedom(DOF)vehicle model was used as the prediction model and a high-fidelity 14-DOF vehicle model with longitudinal and lateral combined brush tire model was used as the plant.Numerical simulation results under different speeds,road adhesion coefficients and conditions of whether to consider yaw stability control,demonstrate that the proposed controller possesses good trajectory tracking performance and robustness,which improves the tracking accuracy while ensuring the yaw stability under the limit condition.关键词
四轮独立驱动电动汽车/轨迹跟踪/横摆稳定性/模型预测控制/控制分配Key words
four-wheel-independent-drive electric vehicles/trajectory tracking/yaw stability/model predictive control/control allocation分类
交通工程引用本文复制引用
陈舒平,赵治国,赵坤..四轮独立驱动电动汽车轨迹跟踪及稳定性协调控制[J].同济大学学报（自然科学版）,2024,52(z1):185-196,12.基金项目
国家自然科学基金(52172390) （52172390）
