【摘要】 以四轮独立制动且前轮转向的车辆作为研究对象,运用模型预测轨迹跟踪控制方法跟踪五次多项式避撞轨迹,同时运用线性二次型调节器(LQR)方法确定期望附加横摆力矩,进而运用轮胎力优化分配方法对制动力进行分配,最终实现避撞轨迹跟踪过程的汽车稳定性控制。仿真结果表明,在较低附着系数路面,增加汽车横摆力矩控制有效提升了车辆在避撞轨迹跟踪过程中的稳定性,并缩短轨迹跟踪调整时间,使车辆能够更快地到达期望轨迹。更多还原

【Abstract】 This paper takes the four-wheel independent braking and front-wheel steering vehicles as research object, uses the model predictive trajectory tracking control method to track the fifth-order polynomial collision avoiding trajectory, and uses the linear quadratic regulator(LQR) method to generate the expected additional yaw moment.Then the braking force is distributed by the optimized distribution method of tire force, and finally the vehicle stability control during the collision avoiding trajectory tracking process is realized. The simulation results show that on the road with low adhesion coefficient, increasing the vehicle yaw moment control effectively improves the stability of the vehicle during collision avoiding trajectory tracking, and shortens the trajectory tracking adjustment time, so that the vehicle can reach the desired trajectory faster.更多还原