四轮独立转向车辆转向模式切换轨迹多目标优化方法研究

doi:10.3901/JME.2024.06.306

摘要/Abstract

摘要： 为了提高四轮独立转向车辆多种转向模式切换过程中的舒适性、安全性和切换效率，提出一种车辆转向模式切换轨迹多目标优化方法。首先，构建四轮独立转向车辆动力学和运动学模型，并建立基于B样条曲线的车辆瞬时转向中心切换轨迹；其次，选取车辆转向模式切换过程中安全性、舒适性、切换效率等性能评价指标，构建多性能目标协同优化目标函数和约束条件，运用粒子群算法对转向模式切换轨迹进行优化，实现多性能目标协同的四轮独立转向车辆转向模式切换轨迹最优规划；最后，基于仿真和自主研制的整车试验测试平台，对所提出的四轮独立转向车辆转向模式切换轨迹优化方法进行验证。在前轮转向模式切换到后轮转向模式的仿真工况下，相比于切换目标已知的多目标和双目标优化方法，所提出的优化方法使得切换效率分别提升了20.73%、27.78%，安全性分别提升了6.67%、15.15%。仿真和试验结果表明所提出的转向模式切换轨迹优化方法能够有效提高四轮独立转向车辆在转向模式切换过程中的切换效率、舒适性和安全性。

关键词: 四轮独立转向车辆, 转向模式切换, 轨迹规划, 多目标优化, 实车试验测试

Abstract: To improve the comfort, safety and switch efficiency of four-wheel independent steering vehicle under dynamic switch among multiple steering modes, a multi-objective optimization method for switch trajectory of steering mode is proposed. Firstly, the dynamics and kinematics models of the 4WIS vehicle are built. Secondly, the switching trajectory of instantaneous center of rotation for vehicle is established based on the B-spline curve. Then the evaluation functions of the safety, comfort, and switch efficiency for 4WIS vehicle under steering mode switch are proposed, and the multi objective optimization model for switch trajectory of steering mode with defined constraints is constructed. Furthermore, the switch trajectory of steering mode is optimized by using particle swarm optimization algorithm to realize the optimal planning with multi-objective collaboration. Finally, numerical simulations and real vehicle experiments with a homemade vehicle are carried out to demonstrate the proposed optimization method. Compared with the multi-objective and double-objective optimization methods with known switching targets under the simulation condition of switching from front wheel steering to rear wheel steering, the proposed optimization method improves the switching efficiency by 20.73% and 27.78%, and the safety by 6.67% and 15.15%, respectively．The simulation and experimental results show that the 4WIS vehicle can ensure great switch efficiency, comfort, and safety in the dynamic switch process of steering mode.

Key words: four-wheel independent steering vehicle, steering mode switch, trajectory planning, multi-objective collaboration optimization, real vehicle experiments

中图分类号:

U469

周晨, 徐飞翔. 四轮独立转向车辆转向模式切换轨迹多目标优化方法研究[J]. 机械工程学报, 2024, 60(6): 306-320.

ZHOU Chen, XU Feixiang. Multi-objective Optimization Method for Steering Mode Switch Trajectory of Four-wheel Independent Steering Vehicle[J]. Journal of Mechanical Engineering, 2024, 60(6): 306-320.

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