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为提高自动化公路系统车辆侧向运动的控制性能,采用四轮主动转向技术,对智能车辆的换道控制进行研究.假设车辆换道时期望的侧向加速度满足正反梯形约束条件,根据期望的虚拟换道轨迹计算车辆横摆角和横摆角速度参考值;假定依靠车载传感器获得车辆横摆角速度信息,基于四轮转向车辆侧向动力学模型,采用终端滑模控制方法,设计横摆角速度跟踪车辆换道控制规律;基于李雅普诺夫稳定性理论,对控制系统的收敛性进行分析.仿真结果显示,设计的横摆角速度跟踪控制规律可实现对换道轨迹的理想跟踪,与仅采用前轮转向角控制输入相比,提高了系统的跟踪精度.
In order to improve the control performance of automated road system vehicle lateral movement, four-wheel active steering technology is used to study the lane-changing control of intelligent vehicles.It is assumed that the expected lateral acceleration of the vehicle lane change satisfies the positive and negative trapezoidal constraints, Based on the lateral dynamic model of the four-wheel steering vehicle and the terminal sliding mode control method, the yaw rate of the vehicle is designed to track the yaw rate. Based on the virtual lane change trajectory, the vehicle yaw rate and yaw rate reference value are calculated. Vehicle lane change control law, and the convergence of the control system is analyzed based on the Lyapunov stability theory.The simulation results show that the designed yaw rate tracking control law can realize the ideal tracking of the lane changing track, Steering angle control input compared to improve the tracking accuracy of the system.