车辆纵侧向辅助驾驶集成优化控制策略

doi:10.13229/j.cnki.jdxbgxb.20221134

Abstract

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

CLC Number:

U471.1

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.

Figures/Tables 17

Fig.1

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Table 1

Table 2

Parameters of the control algorithm"

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）

Table 2

Fig.4

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Fig.8

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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

Optimal integrated control of longitudinal and lateral driving assistance systems

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