重庆理工大学学报2024，Vol.38Issue(23)：1-10,10.DOI:10.3969/j.issn.1674-8425(z).2024.12.001
极限工况下的动态漂移控制策略
Dynamic drift control strategy under extreme conditions
摘要
Abstract
We focus on the stability control of rear-wheel-drive vehicles under extreme drifting conditions,aiming to broaden the boundary of vehicle control domains based on traditional chassis control strategies.With thorough considerations of conventional driving strategies on straight or small-curvature sections and extreme drift control strategies on large-curvature sections,we propose a dynamic drift control strategy for dynamic drift scenarios by adopting a control mode switching strategy integrating both.It primarily comprises a conventional driving strategy based on lateral LQR and longitudinal feedforward-feedback control,a drift control strategy based on MPC,and a control mode switching strategy based on the desired yaw rate.Our simulation results demonstrate our strategy enables the vehicle to switch between conventional driving control modes on straight and small-curvature roads and drift control modes on large-curvature roads.It also allows the vehicle to navigate smaller turning radii without compromising speed.Compared with the conventional driving,our drift control strategy performs U-turns faster with less lateral deviation.When navigating tight curves,the vehicle employing our drift control strategy exhibits much greater maneuverability and a more flexible posture.关键词
主动漂移控制/运动控制/漂移策略分析/控制策略切换Key words
active drift control/motion control/drift strategy analysis/control strategy switching分类
交通工程引用本文复制引用
陈哲明,李国栋,于博博,高凌宇,蒋杭岑..极限工况下的动态漂移控制策略[J].重庆理工大学学报,2024,38(23):1-10,10.基金项目
重庆市自然科学基金项目(CSTB2022NSCQ-MSX0323) （CSTB2022NSCQ-MSX0323）
