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基于轮胎状态刚度预测的极限工况路径跟踪控制研究

王国栋 刘洋 李绍松 卢晓晖 张邦成

王国栋, 刘洋, 李绍松, 卢晓晖, 张邦成. 基于轮胎状态刚度预测的极限工况路径跟踪控制研究. 自动化学报, 2022, 48(6): 1001−1011 doi: 10.16383/j.aas.c190349
引用本文: 王国栋, 刘洋, 李绍松, 卢晓晖, 张邦成. 基于轮胎状态刚度预测的极限工况路径跟踪控制研究. 自动化学报, 2022, 48(6): 1001−1011 doi: 10.16383/j.aas.c190349
Wang Guo-Dong, Liu Yang, Li Shao-Song, Lu Xiao-Hui, Zhang Bang-Cheng. Research on path tracking control under limit conditions based on tire state stiffness prediction. Acta Automatica Sinica, 2022, 48(6): 1001−1011 doi: 10.16383/j.aas.c190349
Citation: Wang Guo-Dong, Liu Yang, Li Shao-Song, Lu Xiao-Hui, Zhang Bang-Cheng. Research on path tracking control under limit conditions based on tire state stiffness prediction. Acta Automatica Sinica, 2022, 48(6): 1001−1011 doi: 10.16383/j.aas.c190349

基于轮胎状态刚度预测的极限工况路径跟踪控制研究

doi: 10.16383/j.aas.c190349
基金项目: 国家重点研发计划(2017YFB0103602), 国家自然科学基金(51905045, 61603060)资助
详细信息
    作者简介:

    王国栋:长春工业大学机电工程学院硕士研究生. 主要研究方向为车辆动力学控制与智能车辆控制. E-mail: wangguodong99@outlook.com

    刘洋:长春孔辉汽车科技股份有限公司中级工程师. 主要研究方向为汽车智能底盘、电控悬架系统及控制算法. E-mail: liuyang@khat.com.cn

    李绍松:长春工业大学机电工程学院讲师. 2013年获得吉林大学博士学位. 主要研究方向为车辆动力学控制. 本文通信作者. E-mail: lishaosong@ccut.edu.cn

    卢晓晖:长春工业大学机电工程学院副教授. 2013年获得吉林大学博士学位. 主要研究方向为汽车动力传动系统控制技术, 压电驱动与控制技术, 微能源俘获技术. E-mail: luxh13@ccut.edu.cn

    张邦成:长春工业大学机电工程学院教授. 2011年获得吉林大学博士学位. 主要研究方向为机械电子测量技术与故障诊断. E-mail: zhangbangcheng@ccut.edu.cn

Research on Path Tracking Control under Limit Conditions Based on Tire State Stiffness Prediction

Funds: Supported by National Key Research and Development Program of China (2017YFB0103602), National Natural Science Foundation of China (51905045, 61603060)
More Information
    Author Bio:

    WANG Guo-Dong Master student at the School of Mechanical and Electrical Engineering, Changchun University of Technology. His research interest covers vehicle dynamics and intelligent vehicle control

    LIU Yang Senior engineer at Changchun Konghui Automotive Technology Co., Ltd.. His research interests cover automotive intelligent chassis, electronically controlled suspension systems, and control algorithms

    LI Shao-Song Lecturer at the School at of Mechanical and Electrical Engineering, Changchun University of Technology. He received his Ph.D. degree from Jilin University in 2013. His research interest covers vehicle dynamics control

    LU Xiao-Hui Associate professor at the School of Mechanical and Electrical Engineering, Changchun University of Technology. He received his Ph.D. degree from Jilin University in 2013. Her research interest covers automotive powertrain control technology, piezoelectric drive and control technology, and microenergy capture technology

    ZHANG Bang-Cheng Professor at the School of Mechanical and Electrical Engineering, Changchun University of Technology. He received his Ph.D. degree from Jilin University in 2011. His research interest covers mechatronic measurement technology and fault diagnosis

  • 摘要: 为解决高速极限工况下自动驾驶车辆紧急避撞时传统路径跟踪控制方法因轮胎力表达不精确导致的路径跟踪失败问题, 提出一种基于轮胎状态刚度预测的模型预测路径跟踪控制方法. 首先, 基于非线性UniTire轮胎模型求解的轮胎状态刚度对非线性轮胎力进行线性化处理. 其次, 基于期望路径信息提出状态刚度预测方法, 实现预测时域内轮胎力的预测和线性化. 最后, MATLAB和CarSim联合仿真实验表明: 所提出的方法能够明显改善高速极限工况下的避撞控制效果.
  • 图  1  车辆模型

    Fig.  1  Vehicle model

    图  2  控制器整体结构

    Fig.  2  Overall structure of the proposed controller

    图  3  基于Sigmoid函数的路径规划

    Fig.  3  Path planning based on sigmoid function

    图  4  轮胎侧偏状态刚度

    Fig.  4  Lateral tire state stiffness

    图  5  预测时域内的轮胎力

    Fig.  5  Tire force over prediction horizon

    图  6  轮胎状态刚度对比曲线

    Fig.  6  Comparison of tire state stiffness

    图  7  侧向位移

    Fig.  7  Lateral displacement

    图  8  横摆角

    Fig.  8  Yaw angle

    图  12  后轮轮胎侧向力

    Fig.  12  Lateral force at rear tire

    图  9  前轮转角

    Fig.  9  Front steering angle

    图  10  车辆侧偏角

    Fig.  10  Vehicle sideslip angle

    图  11  前轮轮胎侧向力

    Fig.  11  Lateral force at front tire

    图  13  侧向位移

    Fig.  13  Lateral displacement

    图  18  后轮轮胎侧向力

    Fig.  18  Lateral force at rear tire

    图  14  横摆角

    Fig.  14  Yaw angle

    图  15  前轮转角

    Fig.  15  Front steering angle

    图  16  车辆侧偏角

    Fig.  16  Vehicle sideslip angle

    图  17  前轮轮胎侧向力

    Fig.  17  Lateral force at front tire

    表  1  车辆参数

    Table  1  Vehicle parameters

    参数符号
    质心到前轴的距离lf1.04 m
    质心到后轴的距离lr1.56 m
    整车质量m1 240 kg
    横摆转动惯量Iz2 031.4 kgm2
    下载: 导出CSV

    表  2  控制器参数

    Table  2  MPC controller parameters

    参数LTI-MPCLTV-MPC
    Ts0.010.01
    P4040
    M11
    ${Y_{\max }}$(°)55
    ${\varphi _{\max }}$(°)1515
    ${\delta _f}_{\max }$(°)1010
    ${\Delta{\delta_f}_{\max }}$(°)0.170.17
    ${\tau _{\varphi ,80}}$550550
    ${\tau _{y ,80}}$260260
    ${\tau _{u ,80}}$1 9001 900
    ${\tau _{\varphi ,100}}$550550
    ${\tau _{y ,100}}$260260
    ${\tau _{u ,100}}$3 5003 500
    下载: 导出CSV
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  • 收稿日期:  2019-05-09
  • 录用日期:  2019-09-09
  • 网络出版日期:  2022-04-24

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