车辆纵侧向辅助驾驶集成优化控制策略

doi:10.13229/j.cnki.jdxbgxb.20221134

摘要/Abstract

摘要：

为协调汽车纵、侧向辅助驾驶系统控制目标和车辆动力学控制需求，以四轮独立驱动电动汽车为控制对象，结合深度学习和模型预测控制建立车辆广义控制力预测-动力学优化分配控制策略。上层算法根据纵、侧向辅助驾驶策略参考目标计算满足车辆控制需求的广义控制力；中层模块包括车辆期望广义力神经网络预测模型和主动集数值求解算法两部分；下层根据期望轮胎力计算轮胎滑移率和侧偏角，通过控制电机扭矩和制动系统实现轮胎力控制需求，通过转向系统调节车辆运动方向。采用仿真测试和硬件在环试验对算法进行验证，结果表明：所建算法能够同时保证车辆纵向和侧向的控制需求，侧向路径跟随误差为0.011 7 m，车速误差为0.59 km/h。

关键词: 车辆工程, 纵侧向辅助集成, 优化分配, 模型预测控制, 数值算法

Abstract:

In order to coordinate the longitudinal and lateral driving assistance systems and vehicle stability control objectives of intelligent driving vehicle， this paper proposes a vehicle integrated control strategy by integrating different driving assistance systems and vehicle stability control in a hierarchical model predictive control architecture to achieve the optimal distribution， taking the four-wheel independent drive electric vehicle as the plant. The upper layer calculates the generalized control force to meet the vehicle motion targets according to the decision results of the driving assistance strategies. The middle layer module includes two parts： the vehicle control targets prediction model and the numerical algorithm. And the desired vehicle tire forces can be obtained through the middle layer. The lower module decides the tire slip rate and slip angle according to the expected tire forces， and the tire forces are achieved by controlling the vehicle driving motor and the braking system， and the heading angle is regulated through the front wheel steering control system. Simulation and hardware-in-the-loop （HIL） verification results show that the proposed integrated control algorithm has good computation efficiency and the longitudinal and lateral control requirements of the vehicle can be ensured at the same time. Results show that the maximum errors of path tracking and velocity control are 0.011 7 m and 0.59 km/h， respectively.

Key words: vehicle engineering, longitudinal and lateral integrated control, optimal distribution, model predictive control, numerical algorithm

中图分类号:

U471.1

蒋渊德,欧阳铭,赵祥模,秦孔建,郑兵兵. 车辆纵侧向辅助驾驶集成优化控制策略[J]. 吉林大学学报(工学版), 2024, 54(10): 2741-2753.

Yuan-de JIANG,Ming OUYANG,Xiang-mo ZHAO,Kong-jian QIN,Bing-bing ZHENG. Optimal integrated control of longitudinal and lateral driving assistance systems[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(10): 2741-2753.

图/表 17

图1

图2

图3

表1

表2

主要控制参数"

参数	数值
$c x, c y, c γ$	0.1
$k 11, ? k 12$	0.22， 0.5
$k 21, ? k 22$	1， 0.5
$k 31, ? k 32$	10， 1
$L$	10
$τ F x$	0.1
$τ F y$	0.08
$c i i = 1,2, 3,4$	2.5
$W E$	diag（500，500，…，500）
$W Δ u$	diag（10，10，…，10）

表2

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

图15

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参数	数值
质量m/kg	1 400
半轮距l_s/m	0.908
轮胎半径R/m	0.325
质心高度h_g/m	0.54
转动惯量I_z /（kg·m²）	1 536.7
车辆前轮侧偏刚度C_f/（N·rad^-1）	-12 768
车辆后轮侧偏刚度C_r /（N·rad^-1）	-6 936
质心到车前的距离L_f/m	1.015
质心到后轴的距离L_r/m	1.895