Path Tracking Control Strategy for 4WD/4WS Autonomous Vehicle with Considering Lateral Stability

doi:10.3778/j.issn.1002-8331.2211-0154

Abstract

Abstract: According to the characteristics of single-wheel solo controllable of unmanned vehicle with distributed four-wheel drive/steering, a path tracking control strategy considering stability is proposed to improve the vehicle stability of unmanned vehicle under high-speed and low-attachment working conditions. Specifically, the path tracking controller is built by pre-targeting-following theory to achieve real-time tracking of the planned path of the unmanned vehicle; and the integrated control of the rear wheel turning angle and direct transverse moment is carried out by sliding mode control theory, and the torque distribution is realized by considering the front and rear axle loads and road adhesion coefficients to improve the body stability. The simulation results show that compared with the path tracking control strategy without considering stability, the path tracking strategy with considering stability decreases the average lateral tracking error by 5.2%, the peak mass lateral declination by 57.4% and the peak transverse pendulum velocity by 23% in the high-speed double shift line condition; in the low attachment mountain road condition, the average lateral tracking error decreases by 9.1%, the peak mass lateral declination by 54.3% and the peak transverse pendulum velocity by 1.4%. On the premise of ensuring the vehicle path tracking accuracy, the driving stability of the vehicle is improved.

Key words: autonomous vehicle, path tracking, stability control, yaw moment, four-wheel steering

摘要： 根据分布式四轮驱动/转向的无人车单轮独可控的特点，提出一种考虑稳定性的路径跟踪控制策略，以提升无人车在高速、低附着工况下的车辆稳定性：具体通过预瞄-跟随理论搭建路径跟踪控制器，实现对无人车规划路径的实时跟踪；并通过滑模控制理论对后轮转角和直接横摆力矩进行集成控制，考虑前后轴荷及路面附着系数实现转矩分配，提高车身稳定性。仿真结果表明：相对于未考虑稳定性的路径跟踪控制策略，考虑稳定性的路径跟踪策略在高速双移线工况下，平均横向跟踪误差下降5.2%，质心侧偏角峰值下降57.4%，横摆角速度峰值下降23%；在低附着山路工况下，平均横向跟踪误差下降9.1%，质心侧偏角峰值下降54.3%，横摆角速度峰值下降1.4%，车辆能够保持良好的跟踪能力和行驶稳定性。

关键词: 无人车, 路径跟踪, 稳定性控制, 横摆力矩, 四轮转向

XIANG Jingyan, ZHOU Kui, FU Yongzhi, XU Yang, PENG Xufeng. Path Tracking Control Strategy for 4WD/4WS Autonomous Vehicle with Considering Lateral Stability[J]. Computer Engineering and Applications, 2024, 60(6): 349-358.

向婧燕, 周奎, 付勇智, 许洋, 彭旭峰. 考虑稳定性的4WD/4WS无人车路径跟踪控制策略研究[J]. 计算机工程与应用, 2024, 60(6): 349-358.

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