考虑路面附着和自适应时间系数影响的车道保持控制

中国机械工程

考虑路面附着和自适应时间系数影响的车道保持控制

凤鹏飞1，2;金会庆1，2;王慧然3;刘法勇4

1.安徽三联学院交通工程学院，合肥，230601
2.国家车辆驾驶安全工程技术研究中心，合肥，230601
3.合肥工业大学汽车与交通工程学院, 合肥，230009
4.江淮汽车集团股份有限公司, 合肥，230601

出版日期:2019-04-10 发布日期:2019-04-04
基金资助:
国家自然科学基金资助项目(51675151)；
安徽省高校自然科学研究重点资助项目（KJ2016A890）

Lane Keeping Control by Considering Influences of Road Adhesion and Adaptive Time Coefficients

FENG Pengfei1，2;JIN Huiqing1，2; WANG Huiran3;LIU Fayong4

1.School of Traffic Engineering,Anhui Sanlian University,Hefei,230601
2.National Center of Engineering and Technology for Vehicle Driving Safety，Hefei，230601
3.School of Automobile and Traffic Engineering,Hefei University of Technology,Hefei,230009
4.Jianghuai Automobile Group Co.,Ltd.,Hefei,230601

Online:2019-04-10 Published:2019-04-04

摘要/Abstract

摘要： 分析了路面附着系数对车辆控制的影响，根据车辆线性二自由度模型与一定的预瞄信息获得车辆-道路动力学模型，并给出了基于Brush轮胎模型的路面附着系数估计算法。针对车道保持转向过程中的车身横摆角速度与转向角的时间延迟现象，提出与路面附着系数有关的自适应时间系数，并加入到车辆-道路动力学模型中。在此基础上，基于滑模控制理论设计横摆角速度滑模控制器来跟踪期望车辆状态，获得理想的转向角。最后，进行了基于CarSim/Simulink的仿真计算和硬件在环台架试验，研究结果表明，在不同路面附着系数下考虑自适应时间系数可改善车道保持控制效果。

关键词: 路面附着系数, 自适应时间系数, 滑模控制, 硬件在环试验

Abstract: The influences of road adhesion coefficients on vehicle control were analyzed. The vehicle-road dynamics model was obtained according to the vehicle linear two degrees of freedom models and certain preview informations. An estimation algorithm of road adhesion coefficients was presented based on Brush tire model，in view of the time delay between yaw speed and steering angle, an adaptive time coefficient related to the road adhesion coefficients was put forward and added to the vehicle-road dynamics model. Based on the sliding mode control theory, the yaw rate sliding mode controllers were designed to track the desired vehicle state and obtain an ideal steer angle. Finally, based on CarSim/Simulink simulation and HIL tests, the effectiveness of lane keeping control considering the adaptive time coefficient under different road adhesion coefficients are improved.

Key words: road adhesion coefficient, adaptive time coefficient, sliding mode control, hardware-in-loop(HIL) test

中图分类号:

U471.15

凤鹏飞1，2;金会庆1，2;王慧然3;刘法勇4. 考虑路面附着和自适应时间系数影响的车道保持控制[J]. 中国机械工程.

FENG Pengfei1，2;JIN Huiqing1，2; WANG Huiran3;LIU Fayong4. Lane Keeping Control by Considering Influences of Road Adhesion and Adaptive Time Coefficients[J]. China Mechanical Engineering.

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