摘要
智能网联汽车横向控制系统主要由车体姿态传感器、期望路径生成模块及横向控制器等组成,通过通信网络实现传感器、控制器与执行器之间的信息传递。智能网联汽车通信时延会降低网络数据的传输效率,严重影响车辆横向控制系统的性能。建立了两自由度汽车操纵动力学模型,考虑车载网络的通信时延,将动力学模型转换成离散化含时延状态空间方程。根据Lyapunov泛函方法,结合Finsler引理,针对含时滞离散控制系统,设计了一种鲁棒状态反馈控制器,再采用线性矩阵不等式方法求解鲁棒控制器参数。通过MATLAB软件建立了仿真模型,考虑曲率阶跃变化的道路输入,模拟圆弧弯曲路径工况,仿真研究车辆横摆角速度、质心侧偏角、航向角误差和横向距离误差的输出响应,研究存在网络通信时延的车辆横向稳定性和路径跟踪精度,验证不同车速下控制器的鲁棒性。仿真结果表明:在车速恒定的条件下,所设计的鲁棒控制器可以有效降低不同程度网络通信时延带来的不利影响,保证智能网联汽车具有较好的横向稳定性和路径跟踪精度;在车速不超过100 km/h的范围内,车辆均可以保证行驶稳定性和跟踪效果,控制器具有较好的鲁棒性。本研究能够提高智能网联汽车的路径跟踪控制效果。
The lateral control system of intelligent connected vehicles is mainly composed of vehicle attitude sensor,desired path generating module and lateral controller,etc.The information transmission among sensor,controller and actuator is realized through communication network.The communication delay in intelligent connected vehicles will reduce the transmission efficiency of network data,and seriously affect the performance of vehicle’s lateral control system.The 2-DOF vehicle handling dynamics model is established.Considering the communication delay of vehicle network,the dynamics model is converted into a discretized state space equation with time delay.Based on Lyapunov functional method and Finsler lemma,a robust state feedback controller is designed for the discrete control system with time delay,and the parameters of robust controller are solved by linear matrix inequality method.The simulation model is established by MATLAB software.Considering the road input of curvature with step change to simulate bending path condition of arc,the output response of the errors of yaw rate,mass center slip angle,heading angle and lateral distance are simulated.The lateral stability and path tracking accuracy of vehicle with network communication delay are studied,and the robustness of controller under different speeds is verified.The simulation result shows that(1) under the condition of constant speed,the designed robust controller can effectively reduce the adverse effect caused by different degrees of network communication delay,and ensure that the intelligent connected vehicle has good lateral stability and path tracking accuracy;(2) when the vehicle speed is no more than 100 km/h,the vehicle can ensure the driving stability and tracking effect,and the controller has good robustness.This study can improve the path tracking control effect of intelligent connected vehicles.
作者
曹青松
易星
许力
CAO Qing-song;YI Xing;XU Li(School of Artificial Intelligence,Jiangxi University of Technology,Nanchang Jiangxi 330098,China;Collaborative Innovation Center,Jiangxi University of Technology,Nanchang Jiangxi 330098,China)
出处
《公路交通科技》
CAS
CSCD
北大核心
2022年第2期150-156,182,共8页
Journal of Highway and Transportation Research and Development
基金
国家自然科学基金项目(51765021)
江西省科技厅重点研发项目(2018BBE50012)
江西省教育厅科学技术研究项目(GJJ212007)。
关键词
汽车工程
网络通信时延
鲁棒控制
横向稳定性
路径跟踪
智能网联汽车
automobile engineering
network communication delay
robust control
lateral stability
path tracking
intelligent connected vehicle
