摘要
车辆换道过程中,车辆的侧向控制十分重要。概述了基于预瞄-跟随理论建立的换道车辆侧向动力学模型。该模型以换道轨迹的曲率确定预瞄距离,以偏差计算器计算出预瞄偏差和位置偏差,输出最优车辆方向盘转角,实现车辆换道侧向控制。
The lateral control of the vehicle during the lane changing process is very important.In this paper,the lateral dynamics model of lane changing vehicle based on preview-following theory is summarized,the curvature of the lane-changing trajectory is used to determine the preview distance,the deviation calculator is used to calculate the preview deviation and position deviation,and the optimal vehicle steering wheel angle is exported to realize intelligent lateral control.
作者
吴晨
WU Chen(School of Automotive Engineering,Shaanxi Polytechnic Institute,Xianyang,Shaanxi,712000,China)
出处
《小型内燃机与车辆技术》
2023年第1期90-92,共3页
Small Internal Combustion Engine and Vehicle Technique
基金
陕西工业职业技术学院2022院级科研计划项目(2022YKYB-030)。
关键词
车辆换道
侧向控制
预瞄距离
偏差计算器
Lane changing of vehicle
Lateral control
Preview distance
Deviation calculator
