一种提高四轮转向自动驾驶汽车安全性和稳定性的轨迹跟踪控制器

IF 1.3 4区工程技术 Q3 TRANSPORTATION SCIENCE & TECHNOLOGY Transport Pub Date : 2021-03-12 DOI:10.3846/TRANSPORT.2021.14291

Runqiao Liu, Minxiang Wei, Nan Sang, Jianwei Wei

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引用次数: 1

摘要

为了实现四轮转向(4WS)自动驾驶汽车的抗侧风、抗侧滑和抗侧翻轨迹跟踪，采用基于四通道自抗扰控制(ADRC)的轨迹跟踪控制器对期望的横向位移、纵向位移、偏航角和侧滚角进行跟踪，并通过转向与制动系统的静态解耦，使实际输出值与期望值之间的跟踪误差最小化。此外，利用CarSim®进行了抗侧风、抗侧滑和抗侧翻仿真。最后，仿真结果表明，在小转弯半径或低附着度弯道下，采用该控制器的4WS自动驾驶汽车在路径跟踪中仍具有良好的抗侧风、抗侧滑和抗侧翻性能。

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A TRAJECTORY-TRACKING CONTROLLER FOR IMPROVING THE SAFETY AND STABILITY OF FOUR-WHEEL STEERING AUTONOMOUS VEHICLES

To achieve anti-crosswind, anti-sideslip, and anti-rollover in trajectory-tracking for Four-Wheel Steering (4WS) autonomous vehicles, a trajectory-tracking controller based on a four-channel Active Disturbance Rejection Control (ADRC) was used to track the desired lateral displacement, longitudinal displacement, yaw angle, and roll angle, and minimize the tracking errors between the actual output values and the desired values through static decoupling steering and braking systems. In addition, the anti-crosswind, anti-sideslip, and anti-rollover simulations were implemented with CarSim®. Finally, the simulation results showed that the 4WS autonomous vehicle with the controller still has good anti-crosswind, anti-sideslip, and anti-rollover performance in path tracking, even under a small turning radius or lowadhesion curved roads.

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来源期刊

Transport Engineering-Mechanical Engineering

CiteScore

3.40

自引率

5.90%

发文量

审稿时长

4 months

期刊介绍： At present, transport is one of the key branches playing a crucial role in the development of economy. Reliable and properly organized transport services are required for a professional performance of industry, construction and agriculture. The public mood and efficiency of work also largely depend on the valuable functions of a carefully chosen transport system. A steady increase in transportation is accompanied by growing demands for a higher quality of transport services and optimum efficiency of transport performance. Currently, joint efforts taken by the transport experts and governing institutions of the country are required to develop and enhance the performance of the national transport system conducting theoretical and empirical research. TRANSPORT is an international peer-reviewed journal covering main aspects of transport and providing a source of information for the engineer and the applied scientist. The journal TRANSPORT publishes articles in the fields of: transport policy; fundamentals of the transport system; technology for carrying passengers and freight using road, railway, inland waterways, sea and air transport; technology for multimodal transportation and logistics; loading technology; roads, railways; airports, ports, transport terminals; traffic safety and environment protection; design, manufacture and exploitation of motor vehicles; pipeline transport; transport energetics; fuels, lubricants and maintenance materials; teamwork of customs and transport; transport information technologies; transport economics and management; transport standards; transport educology and history, etc.