Coordinated Control of Front-Wheel Steering Angle and Yaw Stability for Unmanned Ground Vehicle Based on State Estimation

被引：0
作者：
Chen T. [1 ,2 ]
Xu X. [1 ]
Cai Y. [1 ]
Chen L. [1 ]
Sun X. [1 ]
机构：
[1] Automotive Engineering Research Institute, Jiangsu University, Zhenjiang
[2] School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang
来源：
Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2021年 / 41卷 / 10期
关键词：
Coordinated control; State estimation; Trajectory tracking; Unmanned vehicle;
D O I：
10.15918/j.tbit1001-0645.2020.071
中图分类号：
学科分类号：
摘要：
Aiming at the trajectory tracking problem of unmanned vehicle, a coordinated control strategy of front-wheel steering angle and yaw stability was proposed for unmanned vehicle based on state estimation. Firstly, a vehicle trajectory tracking model was established, and a trajectory tracking controller was designed with the model predictive control algorithm to obtain the front-wheel steering angle required of tracking reference trajectory in real time. And then, according to the vehicle model, a method of front-wheel steering angle estimation based on unknown input observer was designed and the estimation result was used as the input of front-wheel steering angle tracking control. Based on the nonsingular terminal sliding mode control, a front-wheel steering angle tracking method was designed, and the trajectory tracking was realized by the torque control of steering motor. At the same time, a vehicle yaw stability controller was designed to ensure the vehicle yaw stability by controlling the yaw rate tracking error. Finally, a CarSim-Simulink co-simulation model was established and used for simulation test. The results show that, the unknown input observer has a better effect on front-wheel steering angle estimation, which provides a reliable information source for vehicle coordinated control. And the coordinated control strategy can ensure the vehicle yaw stability and complete the vehicle trajectory tracking at the same time. © 2021, Editorial Department of Transaction of Beijing Institute of Technology. All right reserved.
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页码：1050 / 1057
页数：7
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