Research on intelligent vehicle trajectory tracking and ride stability control
In order to improve the trajectory tracking effect and driving safety of unmanned vehicles under different working conditions,an integrated control strategy of trajectory tracking and yaw stability was proposed.According to the vehicle trajectory tracking model,the feedforward angle of the front wheel was obtained based on the curvature feedforward control,the feedback controller was designed based on the sliding mode control theory of lateral deviation and heading deviation,then the vehicle trajectory tracking controller was obtained by combining feedforward and feedback.Meanwhile,the upper yaw torque controller was designed based on the simultaneous non-singular sliding mode theory of yaw velocity deviation and centroid side deflection deviation.The lower layer moment distribution controller was designed based on the minimum sum of the utilization ratio of the longitudinal force of the tire solved by quadratic programming.Finally,two different road conditions of low-speed snow and ice and high-speed dry asphalt were designed and verified by CarSim and Simulink co-simulation.The simulation results showed that the proposed integrated control strategy of trajectory tracking and yaw stability has good trajectory tracking ability,improves vehicle driving safety and reduces tire wear.
NETL
NSTL
万方数据
维普
