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汽车安全与节能学报

JASE ›› 2019, Vol. 10 ›› Issue (1): 67-73.DOI: 10.3969/j.issn.1674-8484.2019.01.008

• 汽车安全 • 上一篇    下一篇

低附着工况自动驾驶汽车纵横向耦合控制

高 凯，余家旺，张金城   

  1. （ 长沙理工大学 汽车与机械工程学院，长沙 410114，中国）
  • 收稿日期:2018-06-22 出版日期:2019-03-31 发布日期:2019-04-01
  • 作者简介:第一作者 / First author ： 高凯 (1985—)，男( 汉)，河北，讲师。E-mail: kai_g@csust.edu.cn。
  • 基金资助:

    国家自然科学基金资助项目(61503048) ；湖南省教育厅科学研究项目(16C0050)。

Longitudinal and lateral coupling control for autonomous driving vehicle under low adhesion conditions

GAO Kai, YU Jiawang, ZHANG Jincheng   

  1. (College of Automotive and Mechanical Engineering, Changsha University of Science & Technology, Changsha 410114 China)
  • Received:2018-06-22 Online:2019-03-31 Published:2019-04-01

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摘要：

       为提高低附着工况下自动驾驶电动汽车的运动性能，设计了一种车辆串级纵横向耦合控制策略。建立车辆动力学模型，设计了纵向和横向前级控制器，以保证能够跟随规划层的目标行驶路径。设计了后级稳定控制器；计算横摆角速度，补偿横摆力矩。利用Carsim和Simulink 软件进行联合仿真，验证不同附着系数下车辆的跟随精度和稳定性。结果表明：横摆角速度、质心侧偏角、轨迹跟随精度的最大误差较非耦合控制前分别减小了约38.6%、45.83%、5.58%；设计的纵横向耦合控制器能够有效改善低附着工况下自动驾驶车辆的跟随精度和稳定性。

关键词: 汽车工程 , 自动驾驶 , 低附着工况 , 纵横向耦合控制 , 稳定性控制

Abstract:

A cascade-longitudinal-horizontal coupling control strategy for vehicles was designed to improve the performance of autonomous vehicles under low attachment conditions. A vehicle dynamics model was established, a longitudinal and lateral motion controller and a longitudinal and lateral front controllers were
designed to ensure autonomous vehicles can follow the target path; the rear stability controller was designed to calculate the yaw rate and compensate the yaw torque. The following accuracy and stability of vehicles under different adhesion coefficients was analyzed and verified by combining Carsim with Simulink for co-simulation. The results show that the maximum errors of yaw velocity, side slip angle and trajectory following accuracy are reduced by about 38.6%, 45.83% and 5.58%, respectively, before the uncoupled control; the designed controller can effectively improve the following accuracy and stability of the autonomous driving vehicle under low attachment conditions.

Key words: automobile engineering ,  autonomatic drive , low adhesion condition, longitudinal and lateral coupling control, stability control