摘要
为实现四轮独立驱动电动车的侧向主动安全避撞控制,建立了车辆侧向换道的安全距离模型,在此模型基础上依据避撞要求设计了相应侧向控制器。利用线性二次型调节器(LQR)方法求解出侧向换道最优反馈矩阵,并采用基于输入补偿的前馈补偿策略对系统进行偏转角控制跟踪,保证系统能精确跟随给定期望横摆角。最后,通过实验验证了电动车主动安全距离模型和车辆避撞控制器的有效性,实现了车辆安全稳定避撞功能要求。
In order to achieve lateral active safety collision avoidance control of four-wheel independent drive electric vehicle,the safety distance model in vehicle lateral lane-change is proposed.On the basis of the proposed safety distance model,an appropriate lateral controller is designed,which meets the collision avoidance requirements.The Linear Quadratic Regulator（LQR）method is used to solve the optimal feedback matrix of the lateral lane-change.Then,the feed-forward compensation strategy based on input offset is taken to track the slip angle,so that the system could accurately follow the given expected yawing angle.The electric vehicle active safety distance model and the effectiveness of the vehicle collision avoidance controller are verified by experiments.The strategy realizes the safety and stability function requirements of the vehicle collision avoidance system.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2016年第5期1587-1594,共8页
Journal of Jilin University:Engineering and Technology Edition
基金
中国电动汽车国家重点科技计划项目(JS-102)
吉林大学"985工程"项目
关键词
自动控制技术
主动避撞系统
安全距离模型
侧向换道
最优控制
automatic control technology
active collision avoidance system
safety distance model
lateral lane-changing
optimal controller
