【摘要】 针对商用车路径跟踪横向控制与抗侧倾控制相互耦合的问题,将横向控制和抗侧倾控制视为动态博弈过程中的参与者,提出一种基于Pareto最优均衡理论的横向-抗侧倾协同控制策略。首先,建立商用车横摆-侧倾耦合模型,并利用车辆的横向位置、航向角和道路预瞄信息将其增广为智能车-道路闭环模型;其次,基于线性二次型最优(LQR)控制理论设计了分散式横向-抗侧倾控制器作为对比,在分散式最优控制器基础上,进一步充分考虑博弈参与者之间的控制交互,设计了一种基于合作式Pareto最优均衡理论的横向-抗侧倾协同控制策略;最后,选取蛇形线工况对两种控制策略进行仿真验证,结果表明,相比于分散式最优控制器,本文中提出的基于Pareto最优均衡理论的协同控制器能在有效提高路径跟踪精度的同时保证较好的侧倾和操纵稳定性。更多还原

【Abstract】 In view of the coupling problem between lateral control and anti-roll control in path tracking of commercial vehicle, the lateral control and anti-roll control systems are regarded as participants in dynamic game process, and a cooperative lateral and anti-roll control strategy is proposed based on Pareto optimal equilibrium theory. Firstly, a yaw-roll coupling model of commercial vehicle is established, and is then augmented into an Intelligent vehicle-road closed loop model by using vehicle lateral position, heading angle and road preview information. Next, separate lateral and anti-roll controllers are designed based on the theory of linear quadric regulator for comparison. On the basis of separate optimal controllers and with further consideration of the control interaction between game participants, a cooperative lateral and anti-roll control strategy based on Pareto optimal equilibrium theory is devised. Finally, the simulation verification of slalom test with two control strategies are conducted and the results show that compared with separate optimal controllers, the proposed cooperative controller based on Pareto optimal equilibrium theory can effectively enhance the accuracy of path tracking while assuring better rolling and handling stabilities.更多还原