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基于线控转向的智能驾驶车辆路径跟踪研究 被引量:6

Research on Path-Tracking for Intelligent Driving Vehicle Based on Steering-by-Wire
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摘要 针对搭载线控转向系统的智能驾驶车辆路径跟踪问题,基于汽车动力学仿真软件分析车辆转向特性,推导出横摆角速度对转向盘转角的稳态增益曲线,并获得了仿真稳态增益与理论稳态增益之间的修正系数,以此搭建单点预瞄模型和变角传动比线控转向系统模型。通过预瞄式横向运动控制与线控转向变角传动比控制相结合的方式,完成智能驾驶车辆路径跟踪控制策略的设计,并与搭载固定角传动比线控转向系统的智能驾驶车辆进行仿真对比验证。仿真结果表明,所设计的路径跟踪控制方法具有更高的跟踪精度和行驶稳定性。 To address the problems of path-tracking of intelligent driving vehicle with steering-by-wire,vehicle steering characteristics by vehicle dynamics software are analyzed,and the steady-state gain curve between yaw rate and steering-wheel angle,and the correction factor between simulation steady-state gain and theoretical steady-state gain are obtained.The variable angle ratio model of steering-by-wire and the single point preview model are built according to correction factor.The path-tracking control strategy for intelligent driving vehicle is designed by combining preview lateral dynamics control and variable angle ratio control of steering-by-wire.Finally,the simulations of proposed control strategy are carried out by comparing with fixed angle ratio control.The simulation results indicate that the designed path-track control method has higher tracking accuracy and driving stability.
作者 查云飞 于淼 马芳武 郑寻 Zha Yunfei;Yu Miao;Ma Fangwu;Zheng Xun(Fujian Key Laboratory of Automotive Electronics and Electric Driving Technology,Fujian University of Technology,Fuzhou 350118;Fujian Collaborative Innovation Center for R&D of Coach and Special Vehicle,Xiamen University of Technology,Xiamen 360124;State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130025)
出处 《汽车技术》 CSCD 北大核心 2021年第3期7-13,共7页 Automobile Technology
基金 福建省客车及特种车辆研发协同创新中心项目(2016BJC010) 福建工程学院科研基金项目(GY-Z19010)。
关键词 智能驾驶车辆 线控转向系统 路径跟踪 修正系数 变角传动比 Intelligent driving vehicle Steering-by-wire Path-tracking Correction factor Variable angle ratio
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