智能汽车纵横向整体反馈线性化控制

doi:10.13229/j.cnki.jdxbgxb20211062

Abstract

Abstract:

Aiming at the problems of high model complexity of control system and the tire cornering stiffness uncertainty affecting the control effect caused by longitudinal and lateral coupling nonlinearity of intelligent vehicle， a longitudinal and lateral integrated feedback linearization control method based on Lyapunov stability theory and tire cornering stiffness estimation is proposed. Firstly， the longitudinal and lateral coupling model and the trajectory tracking error model was established. Secondly， the exact linearization condition of the system was determined， and the virtual control law was designed to ensure the stability of the system and the asymptotic convergence of the tracking error by using the Lyapunov stability analysis method. Then， the real-time estimation of the tire cornering stiffness was carried out. The simulation results based on CarSim/Simulink demonstrate that the proposed method can make the intelligent vehicle keep good trajectory tracking performance and stability in longitudinal and lateral coupling conditions.

Key words: vehicle engineering, feedback linearization, virtual control law, longitudinal and lateral coupling, tire cornering stiffness estimation

CLC Number:

U461

Song GAO,Yu-qiong WANG,Yu-hai WANG,Yi XU,Ying-chao ZHOU,Peng-wei WANG. Longitudinal and lateral integrated feedback linearization control for intelligent vehicle[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(3): 735-745.

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控制器	最大侧向偏差	侧向偏差绝对值积分
反馈线性化控制	0.6063	0.5692
预瞄控制	0.9922	1.1852

Longitudinal and lateral integrated feedback linearization control for intelligent vehicle

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