重庆理工大学学报2025，Vol.39Issue(19)：75-83,9.DOI:10.3969/j.issn.1674-8425(z).2025.10.009
线控转向车辆的横向分层控制策略
Research on lateral hierarchical control strategy of steer-by-wire vehicle
摘要
Abstract
To improve the working condition adaptability of steering-by-wire(SBW)vehicle path tracking,this paper proposes a lateral hierarchical control strategy considering vehicle state estimation based on different vehicle motion states under medium-low speed and high speed conditions.First,a state estimation method is designed to provide reliable state variables.Then,a low-speed DM-LQR controller(Double model LQR controller)and a high-speed fuzzy PID controller are designed in the upper layer and the dynamic characteristics of the steer-by-wire system are considered in the lower layer to improve the adaptability of working conditions.Next,the fuzzy weight controller is employed to select the control method.Finally,the designed hierarchical control strategy is verified based on the CarSim-Matlab/Simulink co-simulation platform.Results show the proposed control strategy achieves a higher control accuracy under different working conditions.关键词
线控转向/状态估计/横向控制/分层控制策略Key words
SBW/state estimation/lateral control/hierarchical control strategy分类
交通运输引用本文复制引用
屈翔,陈豪,李文林,谢宇航..线控转向车辆的横向分层控制策略[J].重庆理工大学学报,2025,39(19):75-83,9.基金项目
重庆市科技局技术创新与应用发展专项重点项目(cstc2019jscx-fxydX0021) （cstc2019jscx-fxydX0021）
