作者：陈林彬, 唐岚, 谭鹏宇

作者单位：西华大学汽车与交通学院，四川 成都 610039

关键词：线控转向;换道;协同控制;路径跟踪;滑模控制

摘要：

针对智能线控转向（SBW）车辆在弯道上换道时的路径跟踪控制与车辆稳定性问题，提出一种分层协同路径跟踪控制器。在上层控制器中，根据参考轨迹设计新的期望横摆角的非线性函数，使车辆在跟踪新的期望横摆角时，侧向位移误差趋于零，从而简化路径跟踪控制；其次通过构造Lyapunov函数，设计基于指数收敛扰动观测器的路径跟踪滑模控制律，以保证控制系统的稳定性和收敛性；同时，通过建立横向位移与纵向制动的协同误差模型设计车轮滑移率的滑模跟踪控制律，以确定合适的轮胎制动力矩。在下控制器中，根据建立线控转向系统的二阶模型，提出一种RBF网络自适应滑模控制器，以保证前轮角跟踪的精度。最后，通过Matlab/Simulink和CarSim联合仿真验证所提协同控制器的可行性和有效性。

Research on collaborative control of intelligent vehicle path tracking in lane changing
CHEN Linbin, TANG Lan, TAN Pengyu
School of Automobile and Transportation, Xihua University, Chengdu 610039, China
Abstract: Aiming at the problems of the vehicle stability and path tracking control when the intelligent steer-by-wire(SBW) vehicle performs lane changing on curved road, a layered collaborative path tracking controller is proposed. In the upper controller, according to the reference trajectory, the nonlinear function of a new desired yaw angle is designed so that the lateral displacement error can tend to zero when the vehicle tracks the new expected yaw angle, thus simplifying the path tracking control. Then a sliding mode control law of the path tracking based on exponential convergence disturbance observer is designed by constructing Lyapunov function to ensure the stability and convergence of the control system. At the same time, a collaborative error model is proposed between the lateral displacement and the longitudinal braking. According to this model, a sliding mode tracking control law of the wheel slip rate is designed to determine the appropriate tire braking force, so as to improve the stability and safety of intelligent vehicles when changing lanes on curved road. In the lower controller, a RBF neural network adaptive sliding mode controller is proposed through the second-order model of the steer-by-wire system established to ensure the accuracy of front wheel angle tracking. Finally, the feasibility and effectiveness of the proposed collaborative controller are verified through Matlab/Simulink and CarSim joint simulation.
Keywords: steer-by-wire (SBW);lane changing;collaborative control;path tracking;sliding mode control
2022, 48(1):108-115  收稿日期: 2021-02-01;收到修改稿日期: 2021-03-24
基金项目: 四川省科技支撑重点项目(2019YFG0042)；四川省科技厅国际合作项目(2018HH0125)
作者简介: 陈林彬（1996-），男，四川遂宁市人，硕士研究生，专业方向为汽车动力学控制
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