Intelligent Bus Trajectory Tracking Control for Body Attitude Stability

被引：0

作者：

Wang, Hongliang ^{[1
]}

Fan, Shuo ^{[1
]}

Pi, Dawei ^{[1
,6
]}

Fan, Dingge ^{[1
]}

Chen, Yijie ^{[2
,3
]}

Fan, Jingjing ^{[4
,5
]}

机构：

[1] School of Mechanical Engineering, Nanjing University of Science and Technology, Jiangsu, Nanjing

[2] China Northern Vehicle Research Institute, Beijing

[3] Chinese Scholar Tree Ridge Lab, Beijing

[4] School of Electrical and Control Engineering, North China University of Technology, Beijing

[5] National Industrial Innovation Center of Intelligent Equipment, Jiangsu, Liyang

[6] Jiangsu Province Engineering Research Center of Intelligent Chassis for Commercial Vehicles, Jiangsu, Nanjing

来源：

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2024年 / 44卷 / 08期

关键词：

attitude stability; intelligent bus; lateral load transfer rate; rollover risk; trajectory tracking; vertical control;

D O I：

10.15918/j.tbit1001-0645.2023.175

中图分类号：

学科分类号：

摘要：

A trajectory tracking control strategy was proposed for vehicle attitude stability to solve the problem of rolling over caused by driver's emergency operation and unreasonable vehicle path planning caused by vehicle sensor recognition error. Firstly, based on the existing active anti-roll research foundation, a target roll angle algorithm was derived for intelligent bus. And then, taking lateral load transfer rate as the rollover index, a vehicle parameter estimate was carried out with Kalman filter algorithm to achieve lateral load transfer rate prediction. According to the lateral load transfer rate predicted value of intelligent bus, several control strategies were designed including the longitudinal control strategy with differential braking, the vertical control strategy for the body roll and pitch motion and the lateral control strategy for trajectory tracking. Finally, all the control effects of the above strategies were verified with simulation. The results show that the trajectory tracking control strategy proposed for vehicle attitude stability can ensure the stability of the vehicle during driver operating violently in unexpected situations, and can reduce the rollover risk of the vehicle during the trajectory tracking of the intelligent bus. © 2024 Beijing Institute of Technology. All rights reserved.

引用

页码：780 / 791

页数：11

共 18 条

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