吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (3): 643-652.doi: 10.13229/j.cnki.jdxbgxb20221427
• 通信与控制工程 • 上一篇
王德军1,2(),张凯然1,2,徐鹏2,顾添骠1,2,于文雅1,2
De-jun WANG1,2(),Kai-ran ZHANG1,2,Peng XU2,Tian-biao GU1,2,Wen-ya YU1,2
摘要:
为解决复杂道路环境(大曲率、低附着)下满足安全性和高效性约束的车速规划问题,提出了一种基于车辆动力学解析的微分方程规划方法。首先,推导了在稳态转向时满足侧向轮胎力约束的极限速度结构参数表达式。其次,将前轮和后轮的轮胎力执行空间组合为F-F图,得到考虑载荷转移和驱动方式因素的隐式微分方程,并求解该微分方程得到沿路径的极限速度,同时给出了面向离散路径信息的极限速度计算方法。最后,设计了横、纵向协同模型预测控制器,搭建了CarSim和Simulink联合仿真平台,在连续和离散两种信息路径上以规划的极限速度进行轨迹跟踪仿真实验。结果表明,本文提出的极限速度规划方法能够在尽快完成复杂路面环境下轨迹跟踪任务的同时,将轮胎力控制在稳定摩擦圆范围内。
中图分类号:
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