Vehicle Path Tracking Control Considering Stability Boundaries and Roll Stability

被引：0

作者：

Tang, Chuan-Yin ^{[1
]}

Pan, Lyu ^{[1
]}

Li, Jing-Hong ^{[2
]}

Zhang, Ming-Li ^{[1
]}

机构：

[1] School of Mechanical Engineering & Automation, Northeastern University, Shenyang

[2] School of Mechanical Engineering, Shanghai Dianji University, Shanghai

来源：

Dongbei Daxue Xuebao/Journal of Northeastern University | 2024年 / 45卷 / 08期

关键词：

intelligent vehicle; lateral stability boundary; model predictive control; path tracking control; roll stability;

D O I：

10.12068/j.issn.1005-3026.2024.08.008

中图分类号：

学科分类号：

摘要：

To address the conflict between tracking accuracy and vehicle stability in the path tracking task of autonomous vehicles，a path tracking controller considering lateral and roll stability was proposed. Firstly，a four-wheel independently-driven intelligent vehicle is taken as the research object to develop an integrated model predictive controller based on active steering and motor-driven torque distribution to ensure vehicle stability and tracking accuracy under extreme conditions. Secondly，vehicle stability constraints are designed using the phase plot method and the maximum side slip angle of tires to optimize dynamic performance，while roll constraints are established using the zero-moment method to prevent rollover. Finally，simulations comparing the proposed controller with the existing ones demonstrate that the new controller can maximize vehicle dynamics to the fullest，and enhance path tracking precision while concurrently ensuring vehicle stability. © 2024 Northeast University. All rights reserved.

引用

页码：1123 / 1134

页数：11

共 20 条

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