高速无人驾驶车辆的操控稳定性研究

详细信息    查看全文 | 推荐本文 |

英文篇名：A Research on Handling Stability of High-speed Unmanned Vehicles 作者：刘凯 ; 陈慧岩 ; 龚建伟 ; 陈舒平 ; 张玉 英文作者：Liu Kai;Chen Huiyan;Gong Jianwei;Chen Shuping;Zhang Yu;School of Mechanical Engineering, Beijing Institute of Technology; 关键词：高速无人驾驶车辆 ; 车辆动力学 ; 操控稳定性 ; 模型预测控制 英文关键词：high-speed unmanned vehicles;;vehicle dynamics;;handling stability;;model predictive control 中文刊名：汽车工程 英文刊名：Automotive Engineering 机构：北京理工大学机械与车辆学院; 出版日期：2019-05-25 出版单位：汽车工程 年：2019 期：05 基金：国家自然科学基金(91420203,61703041,51275041);; 中央高校基本科研业务费专项资金项目资助 语种：中文; 页：38-45 页数：8 CN：11-2221/U ISSN：1000-680X 分类号：U463.6

摘要

通过分析路面附着条件和道路曲率等因素对车辆转向特性和稳定性的影响,建立了高速车辆的等效动力学模型。提出了一种变步长的模型离散化方法,能够在保证车辆模型预测精度的基础上,实现较长的预测时域,并满足计算实时性的要求。通过对高速车辆稳定行驶状态进行分析,推导了基于包络线的滑移稳定性约束条件,并设计了基于模型预测控制的高速无人驾驶车辆的轨迹跟踪控制器。仿真结果表明,该方法可有效保证高速无人驾驶车辆在不同地面附着情况及道路曲率下的操控稳定性。
        Through analysis of the effect of road adhesion conditions and curvatures to the vehicle steering characteristics and stabilility, an equivalent dynamic model for high-speed unmanned vehicles is established. A model discretization method with variable steps is proposed to ensure a long enough prediction time domain while maintaining model prediction accuracy and computational feasibility. By analyzing the steady running state of high-speed vehicles, the envelope-based sideslip constraints are concluded and the trajectory tracking controller of high-speed unmanned vehicles based on model predictive control is designed. Simulation results validates that the proposed strategy can effectively ensure the vehicle handling stability under different road adhesion conditions and road curvatures.

引文

[1] 陈慧岩,熊光明,龚建伟,等.无人驾驶汽车概论[M].北京:北京理工大学出版社,2014.
    [2] 陈慧岩,陈舒平,龚建伟.智能汽车横向控制方法研究综述[J].兵工学报,2017,38(6):1203-1214.
    [3] 陈慧岩,张玉.军用地面无人机动平台技术发展综述[J].兵工学报,2014,35(10):1696-1706.
    [4] 金辉,李世杰.基于极限车速的车辆稳定性控制研究[J].汽车工程,2018,40(1):48-56.
    [5] LIU K,GONG J,KURT A,et al.A model predictive-based approach for longitudinal control in autonomous driving with lateral interruptions[C].IEEE International Conference on Intelligent Vehicles Symposium (IV),2017:359-364.
    [6] 龚建伟,姜岩,徐威.无人驾驶车辆模型预测控制[M].北京:北京理工大学出版社,2014.
    [7] BROWN M,ERLIEN S M,FUNKE J,et al.Collision avoidance and stabilization for autonomous vehicles in emergency scenarios[J].IEEE Transactions on Control Systems Technology,2017,25(4):1204-1216.
    [8] 李静,王子涵,王宣锋.基于相平面法的制动方向稳定性分析[J].汽车工程,2014,36(8):974-979.
    [9] LIU K,GONG J,CHEN S,et al.Model predictive stabilization control of high-speed autonomous ground vehicles considering the effect of road topography[J].Applied Sciences,2018,8(5):822-837.
    [10] PACEJKA H B.Tyre and vehicle dynamics[M].Netherlands:Butterworth-Heinemann,2006.
    [11] 李玲,马力,牟宇,等.模型车轮胎侧偏刚度的参数辨识方法[J].汽车工程,2016,38(12):1508-1514,1466.
    [12] MATTINGLEY J,BOYD S.CVXGEN:a code generator for embedded convex optimization[J].Optimization and Engineering,2012,13(1):1-27.
    [13] 余志生.汽车理论[M].北京:机械工业出版社,2007.