摘要
首先完成了LKAS控制系统逻辑架构的构建,同时针对汽车侧向动力学的强非线性及参数时变特性,利用预瞄控制原理设计了转向控制算法,应用在车辆的车道保持控制系统中。通过Trucksim和Matlab联合仿真的初步验证,该算法能够实现不同车速下对车辆的良好循迹控制。
Firstly, the logic architecture of LKAS control system is constructed. At the same time, aiming at the strong nonlinearity and time-varying characteristics of vehicle lateral dynamics. Based on the preview control principle, a steering control algorithm is designed and applied to the lane keeping control system of vehicle. Through the preliminary verification of the joint simulation of Trucksim and Matlab, the algorithm can realize good tracking control for vehicles at different speeds.
作者
辛乾
芦凡
杨航
Xin Qian;Lu Fan;Yang Hang(Shaanxi Heavy Duty Automobile Co.,Ltd,Shaanxi Xi’an 710200)
出处
《汽车实用技术》
2020年第21期95-97,共3页
Automobile Applied Technology
关键词
车道保持
联合仿真
预瞄控制
Lane Keeping Assistance System
Co-simulation
Preview control
