Wang Kai, Ding Weiping, Yang Mingliang, Zhu Qiao
School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, 610031, Sichuan, China.
Sci Rep. 2021 Nov 22;11(1):22644. doi: 10.1038/s41598-021-01947-3.
To improve the path tracking accuracy and yaw stability of distributed drive autonomous vehicles (DDAVs) under extreme working conditions, a cooperative lateral motion control method based on the dynamic boundary is proposed to prevent different road adhesion conditions from affecting the motion stability of DDAVs. Based on the analysis of the DDAV lateral dynamics system coordination mechanism, a dynamic boundary considering the pavement adhesion coefficient is proposed, and the Lateral Motion Synergistic Control System (LMSCS) is designed. The LMSCS is divided into the coordination, control, and executive layers. The coordination layer divides the control domain into the stable, quasi-stable, and unstable domains by the dynamic boundary, and coordinates the control strength of the path following control and yaw stability control. In the control layer, the path following control and yaw stability control laws are designed based on the global fast terminal sliding mode. The executive layer estimates the expected steering wheel angle and expected additional wheel torque. Joint simulations under double line shifting conditions confirmed that LMSCS reflects the impact of the road attachment conditions and improves the path tracking accuracy and vehicle yaw stability. The LMSCS has better overall performance than existing lateral motion control methods.
为提高分布式驱动自动驾驶车辆（DDAV）在极端工况下的路径跟踪精度和横摆稳定性，提出一种基于动态边界的协同横向运动控制方法，以防止不同路面附着条件影响DDAV的运动稳定性。在分析DDAV横向动力学系统协调机制的基础上，提出一种考虑路面附着系数的动态边界，并设计了横向运动协同控制系统（LMSCS）。LMSCS分为协调层、控制层和执行层。协调层通过动态边界将控制域划分为稳定域、准稳定域和不稳定域，并协调路径跟踪控制和横摆稳定性控制的控制强度。在控制层，基于全局快速终端滑模设计路径跟踪控制和横摆稳定性控制律。执行层估计期望方向盘转角和期望附加轮矩。双线换挡工况下的联合仿真证实，LMSCS反映了路面附着条件的影响，提高了路径跟踪精度和车辆横摆稳定性。LMSCS的整体性能优于现有的横向运动控制方法。
