Lateral Stability Control of Autonomous Vehicle Based on Backstepping Sliding Mode Method

被引：0
作者：
Lin, Fen [1 ]
Hao, Mingbiao [1 ]
Wang, Tiancheng [1 ]
Wang, Xiaoxia [1 ]
机构：
[1] College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2024年 / 60卷 / 10期
关键词：
autonomous vehicles; backstepping sliding mode control; lateral stability; torque distribution;
D O I：
10.3901/JME.2024.10.497
中图分类号：
学科分类号：
摘要：
A layered control strategy based on backstepping sliding mode method is proposed for the lateral stability of autonomous vehicles under complex conditions. Firstly, a seven-degree-of-freedom model is established to accurately describe the vehicle motion, and the Dugoff tire model is used to describe the dynamic characteristics between the tire and the road surface. Then, a backstepping sliding mode control algorithm is proposed in the motion control layer. The longitudinal velocity, lateral velocity and yaw rate are controlled separately to obtain their control law under Lyapunov stability conditions. In the torque distribution layer, the longitudinal force and lateral force of the tire are redistributed based on the tire load rate. In the execution layer, the front wheel angle and wheel torque are calculated based on the Dugoff tire inverse model and the wheel model. Finally, the Matlab/Simulink-Carsim joint simulation platform is constructed, and the proposed hierarchical control strategy of lateral stability is verified under sine dwell condition and continuous sine condition. The simulation results show that the yaw rate and sideslip angle of the autonomous vehicle can be effectively controlled by the control strategy proposed. Moreover, compared with the pure sliding mode controller, the MAE and RMSE values of yaw rate and sideslip angle under the backstepping sliding mode control strategy are smaller, and the lateral stability of the autonomous vehicle is further improved. © 2024 Chinese Mechanical Engineering Society. All rights reserved.
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页码：497 / 506
页数：9
相关论文
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