四轮独立转向-独立驱动电动车主动避障路径规划与跟踪控制
|
摘要
四轮独立转向-独立驱动电动车(4WIS-4WID EV)具有低速机动性强、高速稳定性好的特点,是一种理想的智能车构型。本文中针对4WIS-4WID EV进行了主动避障系统的设计,主要包括避障路径规划和跟踪控制。首先基于车辆运动学模型,提出了采用七次多项式的避障路径规划算法;然后基于简化2自由度车辆动力学模型,设计了模型预测路径跟踪控制器;为提高车辆主动避障过程中的操纵稳定性,路径跟踪控制算法采用四轮转向与直接横摆力矩控制技术。通过不同附着系数路面工况与侧风扰动工况仿真,验证了所设计的主动避障系统具有良好的避障能力和鲁棒性。
Four-wheel independent steering and four-wheel independent drive electric vehicle(4 WIS-4 WID EV) has good maneuverability at low speed and superior stability at high speed, so is an ideal autonomous vehicle. An active collision avoidance system for 4 WIS-4 WID EV is designed in this paper, mainly consisting of path planning and tracking control. Firstly, the path planning algorithm for collision avoidance is proposed using seven-order polynomial based on vehicle kinematic model. Then, the model predictive controller for path tracking is designed based on the simplified 2 DOF dynamic model. Four-wheel steering and direct yaw-moment control are applied to the path tracking algorithm to improve the handling stability of vehicle. The active collision avoidance performance and robustness of the system are verified by simulations under the conditions of different road adhesive coefficients and crosswind disturbance.
Four-wheel independent steering and four-wheel independent drive electric vehicle(4 WIS-4 WID EV) has good maneuverability at low speed and superior stability at high speed, so is an ideal autonomous vehicle. An active collision avoidance system for 4 WIS-4 WID EV is designed in this paper, mainly consisting of path planning and tracking control. Firstly, the path planning algorithm for collision avoidance is proposed using seven-order polynomial based on vehicle kinematic model. Then, the model predictive controller for path tracking is designed based on the simplified 2 DOF dynamic model. Four-wheel steering and direct yaw-moment control are applied to the path tracking algorithm to improve the handling stability of vehicle. The active collision avoidance performance and robustness of the system are verified by simulations under the conditions of different road adhesive coefficients and crosswind disturbance.
引文
[1] HANG P, CHEN X, FANG S, et al. Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system[J]. International Journal of Automotive Technology,2017,18(5):785-797.
[2] 宗长富,刘经文,郑宏宇,等.4WID/4WIS电动车建模和特殊工况仿真[J].汽车工程,2011,33(10):829-833.
[3] 阮久宏,李贻斌,杨福广,等.有人驾驶AWID-AWIS车辆动力学控制研究[J].山东大学学报(工学版),2010,40(1):10-14.
[4] 郑凯锋,陈思忠,王亚.基于线控技术的四轮转向全滑模控制[J].东南大学学报(自然科学版),2013,43(2):334-339.
[5] LAM T L, QIAN H, XU Y. Omnidirectional steering interface and control for a four-wheel independent steering vehicle[J]. IEEE/ASME Transactions on Mechatronics,2010,15(3):329-338.
[6] WNAG C Y, ZHAO W Z, XU Z J, et al. Path planning and stability control of collision avoidance system based on active front steering[J]. Science China Technological Sciences,2017,60(8):1231-1243.
[7] 宋晓琳,潘鲁彬,曹昊天.基于改进智能水滴算法的汽车避障局部路径规划[J].汽车工程,2016,38(2):185-191.
[8] 牛润新,梅涛,夏静霆,等.基于触须算法构建与修正的智能车辆自主驾驶与避障[J].汽车工程,2010,32(12):1083-1087.
[9] TU Q, CHEN H, LI J. A potential field based lateral planning method for autonomous vehicles[J]. SAE International Journal of Passenger Cars-Electronic and Electrical Systems,2017,10(1):24-34.
[10] 丁延超,丁能根,袁玮.基于四轮主动转向的路径跟踪自动控制[J].汽车技术,2011(7):24-27.
[11] HIRAOKA T, NISHIHARA O, KUMAMOTO H. Automatic path-tracking controller of a four-wheel steering vehicle[J]. Vehicle System Dynamics,2009,47(10):1205-1227.
[12] MASHADI B, AHMADIZADEH P, MAJIDI M, et al. Integrated robust controller for vehicle path following[J]. Multibody System Dynamics,2015,33(2):207-228.
[2] 宗长富,刘经文,郑宏宇,等.4WID/4WIS电动车建模和特殊工况仿真[J].汽车工程,2011,33(10):829-833.
[3] 阮久宏,李贻斌,杨福广,等.有人驾驶AWID-AWIS车辆动力学控制研究[J].山东大学学报(工学版),2010,40(1):10-14.
[4] 郑凯锋,陈思忠,王亚.基于线控技术的四轮转向全滑模控制[J].东南大学学报(自然科学版),2013,43(2):334-339.
[5] LAM T L, QIAN H, XU Y. Omnidirectional steering interface and control for a four-wheel independent steering vehicle[J]. IEEE/ASME Transactions on Mechatronics,2010,15(3):329-338.
[6] WNAG C Y, ZHAO W Z, XU Z J, et al. Path planning and stability control of collision avoidance system based on active front steering[J]. Science China Technological Sciences,2017,60(8):1231-1243.
[7] 宋晓琳,潘鲁彬,曹昊天.基于改进智能水滴算法的汽车避障局部路径规划[J].汽车工程,2016,38(2):185-191.
[8] 牛润新,梅涛,夏静霆,等.基于触须算法构建与修正的智能车辆自主驾驶与避障[J].汽车工程,2010,32(12):1083-1087.
[9] TU Q, CHEN H, LI J. A potential field based lateral planning method for autonomous vehicles[J]. SAE International Journal of Passenger Cars-Electronic and Electrical Systems,2017,10(1):24-34.
[10] 丁延超,丁能根,袁玮.基于四轮主动转向的路径跟踪自动控制[J].汽车技术,2011(7):24-27.
[11] HIRAOKA T, NISHIHARA O, KUMAMOTO H. Automatic path-tracking controller of a four-wheel steering vehicle[J]. Vehicle System Dynamics,2009,47(10):1205-1227.
[12] MASHADI B, AHMADIZADEH P, MAJIDI M, et al. Integrated robust controller for vehicle path following[J]. Multibody System Dynamics,2015,33(2):207-228.