摘要
为避免由智能车跟踪精度与横向稳定性的不足危及交通安全,提出基于Frenet坐标系下的横向跟踪控制。通过对横向误差模型的推导,设计前馈补偿下的离散线性二次型调节器(DLQR)使跟踪误差收敛,并利用质心侧偏角与横摆角速度的极限定义包络线,以此作为横向稳定性判据。采用圆形工况与随机工况对控制器的跟踪效果进行仿真试验。试验结果表明,此控制方式有效的降低了路径跟踪误差,提升横向稳定性,满足实际工程应用要求。
To avoid the insufficient tracking accuracy and lateral stability of intelligent vehicles,the lateral tracking control based on Frenet coordinate system is proposed.Through the derivation of the lateral error model,the discrete linear quadratic regulator(DLQR)under the feedforward compensation is designed to make the tracking error converge,the limit of the centroid and the yaw velocity are used to define the envelope as the criterion for lateral stability.The tracking effect of the controller is simulated by using circular working conditions and random working conditions.The test results show that this control method effectively reduces the path tracking error,improves the lateral stability,and meets the requirements of practical engineering application.
作者
赵海鹏
孙小松
段敏
ZHAO Hai-peng;SUN Xiao-song;DUAN Min(School of Automobile,Liaoning Vocational University of Technology,Liaoning Jinzhou 121007,China;School of Automobile and Traffic Engineering,Liaoning University of Technology,Liaoning Jinzhou 121001,China)
出处
《辽宁工业大学学报（自然科学版）》
2023年第4期216-220,227,共6页
Journal of Liaoning University of Technology(Natural Science Edition)
基金
辽宁省教育厅科技大平台项目(JP2017006)。
