重庆理工大学学报（自然科学版）2025，Vol.39Issue(3)：39-46,8.DOI:10.3969/j.issn.1674-8425(z).2025.02.005
基于速度优化的分布式驱动差动转向无人车路径跟踪控制研究
Research on path tracking control of distributed drive differential steering unmanned vehicles based on speed optimization
摘要
Abstract
To improve the path tracking control accuracy of distributed drive differential steering unmanned vehicles in complex traffic environments,we design a path tracking control strategy based on speed optimization.First,a three-degree-of-freedom dynamic model and a front-wheel differential steering system dynamic model are built.Second,based on the driver's driving habits and considering the influence of road conditions such as road curvature and road adhesion coefficient on vehicle speed,the maximum safe speed is determined.Then,we design a speed optimization algorithm,which achieves the optimal acceleration,the optimal driving torque and the longitudinal motion control of the vehicle.The desired front wheel steering angle is solved using a linear time-varying model predictive control method,and the differential steering control is realized by integrating the sliding mode variable structure control theory,which achieves the path tracking function under speed optimization.Finally,the co-simulation results based on Carsim and Matlab/Simulink show our control strategy adjusts the vehicle speed in real-time according to changes of road conditions and ensures the stability of control while achieving effective path tracking.关键词
差动转向/路径跟踪/速度优化/模型预测控制Key words
differential steering unmanned vehicle/path tracking/speed optimization/MPC分类
交通工程引用本文复制引用
张涛,朱若兮,葛平淑,王阳,崔芳磊..基于速度优化的分布式驱动差动转向无人车路径跟踪控制研究[J].重庆理工大学学报（自然科学版）,2025,39(3):39-46,8.基金项目
国家自然科学基金项目(52175078) （52175078）
