农业装备与车辆工程2025，Vol.63Issue(4)：48-52,62,6.DOI:10.3969/j.issn.1673-3142.2025.04.009
AFS和DYC协同控制的智能车辆路径跟踪控制
Intelligent vehicle path tracking control based on AFS and DYC collaborative control
摘要
Abstract
In order to improve the poor path tracking performance of intelligent vehicles on low adhesion roads,a path tracking control method based on AFS and DYC collaborative control was proposed.Based on the preview following theory,the system prediction model was established.Based on the model predictive control theory,considering the tracking accuracy and driving stability,the path tracking control algorithm was designed to optimize the front wheel angle and additional yaw moment.On this basis,the additional yaw moment distribution strategy was designed.The CarSim/Simulink simulation platform was built,and the simulation experiments were carried out at different speeds on the road with low coefficient of adhesion.The simulation results showed that the designed controller effectively improved the path tracking accuracy and driving stability of intelligent vehicles.关键词
智能车辆/模型预测控制/车辆动力学/路径跟踪Key words
intelligent vehicle/model predictive control/vehicle dynamics/path tracking分类
交通工程引用本文复制引用
李立..AFS和DYC协同控制的智能车辆路径跟踪控制[J].农业装备与车辆工程,2025,63(4):48-52,62,6.基金项目
南通职业大学2024年校级项目"基于主动转向和差动制动协同控制的智能车辆路径跟踪控制方法研究"(24ZK12) （24ZK12）
