【摘要】 针对半挂汽车列车因驾驶员注意力不集中、外力干扰等因素导致车辆偏离道路中心，影响车辆行驶安全问题，提出一种以电液耦合转向系统(EHCS)为执行机构的六轴半挂汽车列车车道保持控制策略。对六轴半挂汽车列车进行动力学分析，建立整车四自由度动力学模型和EHCS执行机构动力学模型。采用分层控制思想，提出六轴半挂汽车列车车道保持控制架构，上层决策层设计了基于前馈加反馈线性二次型(FB-LQR)控制的前轮转角控制器；下层执行层设计了一种考虑不确定干扰的EHCS转向助力电机位置-速度双闭环线性自抗扰控制器(LADRC),以提升目标前轮转角跟踪控制的鲁棒性。搭建仿真平台，对所提出的车道保持控制策略进行仿真验证。仿真结果表明：所提出的车道保持控制策略可以显著提升六轴半挂汽车列车的车道保持能力，并且能够有效抵抗外力干扰对车辆车道保持控制的影响，提升车辆的行驶安全性。更多还原

【Abstract】 To address the deviation of semi-trailer trains from the center of the road due to factors such as driver’s lack of concentration or external force interference, we propose a lane keeping control strategy for six axle semi-trailer train by using an electro-hydraulic coupled steering system(EHCS) as the actuator. First, a dynamic analysis of the six-axis semi-trailer train is conducted and a four degree of freedom vehicle dynamic model and EHCS actuator dynamic model are built. Second, with the introduction of hierarchical control, we propose a lane keeping control architecture for six axle semi-trailer train. The upper decision-making layer designs a front-wheel steering controller based on feedforward plus feedback linear quadratic regulator(FB-LQR) control; the lower level controller proposes an EHCS steering assist motor position and speed dual closed loop linear active disturbance rejection controller(LADRC) which improves the robustness of the target front wheel angle tracking control with the consideration of uncertain disturbances. Finally, the effectiveness of our lane keeping control strategy is verified through simulation. Our results show our strategy markedly improves the lane keeping ability of six axle semi-trailer trains and effectively resists the impact of external force interference on the lane keeping control, enhancing vehicles’ safety.更多还原