汽车高速换道避让路径规划及离散滑模跟踪控制

doi:10.13229/j.cnki.jdxbgxb20200057

Abstract

Abstract:

In order to solve the problem of path planning and tracking control for high-speed lane changing collision avoidance of vehicle， a path planning method and a path tracking control strategy for high-speed lane changing collision avoidance of vehicle are proposed based on quintic polynomial curve and discrete sliding mode control theory， respectively. Firstly， a feasible path is planned based on quintic polynomial curve. The mapping relationship between the maximum curvature， the maximum curvature change rate of the planned path and the undetermined coefficients of the quintic polynomial curve is established indirectly by lookup table， so that the planned path meets the requirements of riding comfort and safety. Secondly， in order to track the planned path based on quintic polynomial curve quickly and steadily， a linear discrete control model with additive uncertainty is established by combining the vehicle kinematics model with the linear vehicle dynamics model of two degrees of freedom， and a path tracking control strategy is designed based on discrete sliding mode control theory with disturbance observer. Finally， a model in the loop simulation system is established based on the software of vehicle dynamics. The feasibility and effectiveness of the proposed path planning method and path tracking control strategy are verified by the model in the loop simulation system.

Key words: vehicle engineering, high-speed lane changing collision avoidance, path planning and tracking control, quantic polynomial curve, disturbance observer, discrete sliding mode control

CLC Number:

U461.1

Jia-xu ZHANG,Xin-zhi WANG,Jian ZHAO,Zheng-tang SHI. Path planning and discrete sliding mode tracking control for high⁃speed lane changing collision avoidance of vehicle[J].Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 1081-1090.

Figures/Tables 8

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Table 1

Parameters of the path tracking control strategy for high-speed lane changing collision avoidance of vehicle"

符号	含义及单位	数值
$M$	整车质量/kg	1416
$I z$	汽车绕质心垂直轴转动惯量/(kg·m²)	1523
$L f$	汽车质心点到前轴的距离/m	1.016
$L r$	汽车质心点到后轴的距离/m	1.562
$C f$	汽车前轴等效侧偏刚度/(N·rad^-1)	80 000
$C r$	汽车后轴等效侧偏刚度/(N·rad^-1)	80 000
$T$	采样时间/s	0.001
$λ 1$	设计参数	12
$λ 2$	设计参数	0.05
$λ 3$	设计参数	0.01

Table 1

Fig.6

Fig.7

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Path planning and discrete sliding mode tracking control for high⁃speed lane changing collision avoidance of vehicle

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