重庆理工大学学报2025，Vol.39Issue(15)：10-18,9.DOI:10.3969/j.issn.1674-8425(z).2025.08.002
基于相平面法的智能汽车路径跟踪和稳定性控制
Path tracking and stability control of intelligent vehicles based on phase plane approach
摘要
Abstract
To improve the dynamic stability of vehicles during operation,a phase plane analysis model is built based on key parameters such as the slip angle,yaw rate,and slip angle velocity.The model enables real-time evaluation and control of vehicle stability.First,longitudinal and lateral controllers are developed to ensure the accuracy of the vehicle's trajectory.A hierarchical control strategy is then designed to address instability during driving.Using desired values for slip angle and yaw rate as control objectives,appropriate active stability control measures are applied according to different stability states of the vehicle,ensuring the vehicle remains stable.Co-simulation with Carsim and Simulink is employed to test the stability assessment methods and integrated control strategies under two high-risk conditions:closed-loop double-lane change and open-loop sine steering.The simulation results demonstrate the proposed stability judgment and control strategy effectively suppresses vehicle instability in extreme conditions,improving driving stability.关键词
智能汽车/车辆操纵稳定性/相平面分析/直接横摆力矩控制/分层控制Key words
intelligent vehicles/vehicle stability/phase plane analysis/direct transverse moment control/hierarchical control分类
交通工程引用本文复制引用
来飞,肖豪,刘俊博..基于相平面法的智能汽车路径跟踪和稳定性控制[J].重庆理工大学学报,2025,39(15):10-18,9.基金项目
国家自然科学基金面上项目(52472400) （52472400）
重庆市自然科学基金面上项目(CSTB2024NSCQ-MSX0493) （CSTB2024NSCQ-MSX0493）
重庆市教育委员会科学技术研究计划资助项目(KJZD-K202404001) （KJZD-K202404001）
