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所属单位：能源与动力学院

发表刊物：Huanan Ligong Daxue Xuebao

摘要：For the problem of path following in autonomous vehicles, the traditional position deviation control method used to neglect the dynamic stability of vehicle. To solve this problem, a control method taking into account the lateral stability of path-following is proposed. Firstly, 2-DOF vehicle dynamics model and path-following error model are established. Secondly, taking into consideration the position of vehicle and the state of vehicle dynamics, the desired yaw rate is generated through the use of the back-stepping feedback dominance back-stepping (FDB). After that, an integrated control strategy of active front steering (AFS) and direct yaw moment control (DYC) based on LQT (linear quadratic tracker) are designed. Next, the ideal control inputs (front wheel angle and yaw moment) are obtained, and the desired yaw rate and sideslip angle is thus tracked accurately. Finally the proposed method is verified in the Simulink environment. The simulation results show that the proposed control method has good lateral stability in path tracking. Compared with the method without considering the lateral stability, the method proposed has higher tracking accuracy in the process of path tracking, the sideslip angle of the vehicle is smaller, and the yaw rate can better track the desired value. © 2018, Editorial Department, Journal of South China University of Technology. All right reserved.

ISSN号：1000-565X

是否译文：否

发表时间：2018-01-01

合写作者：Ni, Lanqing,赵又群,Zhang, Huada,Zhang, Huiqi,Wang, Kaizheng

通讯作者：林棻