摘要
针对智能汽车提出一种基于二型模糊方法的路径跟踪与直接横摆力矩协同控制算法。首先,引入二型模糊模型,用于描述智能车辆系统的非线性横向动力学特性,以提高控制算法的精确性和适应性。其次,为了提高车辆的稳定性,设计一种主动转向和直接横摆力矩控制集成的分层控制系统。这两种控制方式相互协同作用,使智能汽车能更好地适应复杂路况和变化的驾驶需求。最后,基于硬件在环实验对所设计的控制系统进行了验证。实验结果表明,提出的智能汽车路径跟踪与直接横摆力矩协同控制算法可以有效地对车辆轨迹进行跟踪,同时能提高车辆的操纵稳定性,为智能汽车的安全和稳定性能提供了重要的支持和指导。
A cooperative control algorithm of path tracking and direct yaw moment based on a type-2 fuzzy approach was proposed for intelligent vehicles.Firstly,a type-two fuzzy model was introduced to describe the nonlinear lateral dynamic characteristics of the intelligent vehicle system,to improve the precision and adaptability of the control algorithm.Secondly,a hierarchical control system integrated with active steering and direct yaw moment control was designed to improve the stability of the vehicle.By working together synergistically,these two control strategies enabled the intelligent vehicle to better adapt to complex road conditions and changing driving requirements.Finally,the proposed control strategy was implemented by hardware-in-the-loop experiment.The experimental results show that the proposed cooperative control method for path tracking and direct yaw moment of intelligent vehicle can effectively track the vehicle trajectory and improve the vehicle handling stability.This research provides important support and guidance for the safety and stability performance of intelligent vehicles.
作者
廖剑涛
韩增文
陈金建
李斌
王洪波
LIAO Jiantao;HAN Zengwen;CHEN Jinjian;LI Bin;WANG Hongbo(Guangdong Airport Authority Company Limited,Guangzhou Guangdong 510000,China;HIT Robot Group(Zhongshan)Institute of Unmanned Equipment and Artificial Intelligence,Zhongshan Guangdong 528400,China)
出处
《计算机应用》
CSCD
北大核心
2023年第S02期250-255,共6页
journal of Computer Applications
基金
广东省重点领域研发计划项目(2020B0101130024)。
关键词
智能汽车
路径跟踪
二型模糊方法
直接横摆力矩
协同控制
intelligent vehicle
path tracking
type-2 fuzzy method
direct yaw moment
cooperative control
