变曲率道路下自动驾驶小客车安全稳定跟踪控制策略

doi:10.3969/j.issn.1674-8484.2025.01.014

摘要/Abstract

摘要：

为提高自动驾驶小客车的轨迹跟踪精度及行驶安全稳定性，提出了轨迹跟踪与横摆力矩稳定性协同控制策略。在建立车辆动力学模型基础上，设计了小客车前轮轨迹跟踪滑模控制器，以降低路面激励不确定性扰动对控制精度的影响；针对不同道路曲率下小客车的行驶稳定性，设计了整车横摆力矩模糊控制器，并通过提升整车横摆响应来提高小客车轨迹跟踪精度；最后通过Trucksim和Simulink联合仿真与实车试验进行验证。结果表明：对于高、低附着系数路面行驶时的仿真，横向精度分别提升44.9%、11.0%，航向精度提升43.1%、31.7%，质心侧偏角减少28.3%、43.3%，横摆角速度减少23.5%、22.6%；在高附着路面上实车实验，质心侧偏角减少15.6%，横摆角速度减少28.9%。因此，证明了所提出的控制策略的有效性。

关键词: 安全稳定性, 自动驾驶, 轨迹跟踪, 横摆力矩控制, 协同控制

Abstract:

In order to improve the track tracking accuracy and driving safety stability of Robobus, a cooperative control strategy of track tracking and yaw moment stability was proposed. Based on the development of a dynamics model, a sliding mode controller was designed to mitigate the impact of uncertain disturbances caused by road excitations on control accuracy. To address the stability of robobus under varying road curvatures, a fuzzy logic controller for vehicle yaw moment was developed, there by enhancing track tracking accuracy through improved vehicle yaw response. The effectiveness of these controllers was validated through co-simulation using TruckSim and Simulink, as well as real-world vehicle testing. The simulation results demonstrate that the lateral accuracy is improved by 44.9% and 11.0%, while the heading accuracy is increased by 43.1% and 31.7%. Additionally, the lateral inclination angle of the side slip angle is decreased by 28.3% and 43.3%, and the yaw rate is reduced by 23.5% and 22.6%, respectively. The experimental results further indicate a reduction in the side deflection angle of the side slip angle by 15.6% and a decrease in the yaw rate by 28.9% under high adhesion roads. These findings collectively validate the efficacy of the proposed control strategy.

Key words: safety stability, autonomous drive, trajectory tracking, yaw moment control, collaborative control

中图分类号:

U461

李怡, 刘显贵, 唐耀红, 陈立沛, 陈洋睿, 游铭娴. 变曲率道路下自动驾驶小客车安全稳定跟踪控制策略[J]. 汽车安全与节能学报, 2025, 16(1): 136-147.

LI Yi, LIU Xiangui, TANG Yaohong, CHEN Lipei, CHEN Yangrui, YOU Mingxian. Safety stability and tracking control strategy for robobus under variable curvature roads[J]. Journal of Automotive Safety and Energy, 2025, 16(1): 136-147.

图/表 17

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ΔM		e_ω
ΔM		NB	NM	NS	ZO	PS	PM	PB
e_β	NB	PB	PB	PB	NM	NB	NB	NB
	NM	PB	PM	PM	NS	NM	NM	NB
	NS	PB	PM	PM	NS	NM	NM	NB
	ZO	PM	PS	PS	ZO	NS	NM	NM
	PS	PB	PM	PS	PS	NS	NM	NB
	PM	PB	PM	PM	PM	NM	NM	NB
	PB	PB	PB	PB	PB	NM	NB	NB

ΔM		e_ω
ΔM		NB	NM	NS	ZO	PS	PM	PB
e_β	NB	PB	PB	PB	NM	NB	NB	NB
	NM	PB	PM	PM	NS	NM	NM	NB
	NS	PB	PM	PM	NS	NM	NM	NB
	ZO	PM	PS	PS	ZO	NS	NM	NM
	PS	PB	PM	PS	PS	NS	NM	NB
	PM	PB	PM	PM	PM	NM	NM	NB
	PB	PB	PB	PB	PB	NM	NB	NB

整备质量	3.45 t
轴距	3.8 m
轮距，B	1.74 m
质心到前轴距离，a	2.258 m
质心到后轴距离，b	1.542 m
转动惯量，I_z	12 454.5 / (kg·m²)
质心高度，h_g	870 mm
滚动半径，R_r	44.5 mm

整备质量	3.45 t
轴距	3.8 m
轮距，B	1.74 m
质心到前轴距离，a	2.258 m
质心到后轴距离，b	1.542 m
转动惯量，I_z	12 454.5 / (kg·m²)
质心高度，h_g	870 mm
滚动半径，R_r	44.5 mm

μ	控制策略	最大横向偏差绝对值 cm	最大航向偏差绝对值 rad	最大质心侧偏角绝对值 rad	最大横摆角速度绝对值 (rad·s^-1)
0.85	协同控制	6.5	0.023 2	0.013 9	0.124
0.20	协同控制	12.9	0.035 3	0.016 1	0.150
0.85	轨迹跟踪控制	11.8	0.033 2	0.019 4	0.162
0.20	轨迹跟踪控制	14.5	0.051 7	0.028 4	0.194