基于反步滑模法的无人驾驶车辆横向稳定性控制

doi:10.3901/JME.2024.10.497

机械工程学报 ›› 2024, Vol. 60 ›› Issue (10): 497-506.doi: 10.3901/JME.2024.10.497

扫码分享

基于反步滑模法的无人驾驶车辆横向稳定性控制

林棻, 郝明彪, 王天成, 王骁侠

南京航空航天大学能源与动力学院南京 210016

收稿日期:2023-06-01 修回日期:2024-01-12 出版日期:2024-05-20 发布日期:2024-07-24
作者简介:林棻(通信作者),男,1980年出生,博士,副教授,硕士研究生导师。主要研究方向为车辆动力学与控制。
E-mail:flin@nuaa.edu.cn
郝明彪,男,1998年出生,硕士研究生。主要研究方向为车辆动力学与控制。
E-mail:15231807265@nuaa.edu.cn
基金资助:
国家自然科学基金资助项目(52272397)。

Lateral Stability Control of Autonomous Vehicle Based on Backstepping Sliding Mode Method

LIN Fen, HAO Mingbiao, WANG Tiancheng, WANG Xiaoxia

College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Received:2023-06-01 Revised:2024-01-12 Online:2024-05-20 Published:2024-07-24

摘要/Abstract

摘要： 针对无人驾驶车辆在复杂工况下的横向稳定性问题，提出一种基于反步滑模法的横向稳定性分层控制策略。首先，建立准确描述车辆运动的七自由度模型，选用Dugoff轮胎模型来描述轮胎与路面之间的动力学特性；然后，在运动控制层提出一种反步滑模控制算法，分别对纵向速度、侧向速度以及横摆角速度进行单独控制，得到它们在李雅普诺夫稳定条件下的控制率；在力矩分配层基于轮胎负荷率对轮胎的纵向力和侧向力进行重新分配；在执行层基于Dugoff轮胎逆模型和车轮模型计算得到前轮转角和车轮转矩；最后，构建出Matlab/Simulink-Carsim联合仿真平台，并在正弦留驻工况和连续正弦工况下对所提出的横向稳定性分层控制策略进行验证。仿真结果表明提出的控制策略能够有效地对无人驾驶车辆的横摆角速度、质心侧偏角进行控制；并且，相较于纯滑模控制器，反步滑模控制策略下的横摆角速度和质心侧偏角的平均绝对误差(Mean absolute error, MAE)和方均根误差(Root mean squared error, RMSE)较小，无人驾驶车辆的横向稳定性得到进一步提升。

关键词: 无人驾驶车辆, 横向稳定性, 反步滑模控制, 力矩分配

Abstract: A layered control strategy based on backstepping sliding mode method is proposed for the lateral stability of autonomous vehicles under complex conditions. Firstly, a seven-degree-of-freedom model is established to accurately describe the vehicle motion, and the Dugoff tire model is used to describe the dynamic characteristics between the tire and the road surface. Then, a backstepping sliding mode control algorithm is proposed in the motion control layer. The longitudinal velocity, lateral velocity and yaw rate are controlled separately to obtain their control law under Lyapunov stability conditions. In the torque distribution layer, the longitudinal force and lateral force of the tire are redistributed based on the tire load rate. In the execution layer, the front wheel angle and wheel torque are calculated based on the Dugoff tire inverse model and the wheel model. Finally, the Matlab/Simulink-Carsim joint simulation platform is constructed, and the proposed hierarchical control strategy of lateral stability is verified under sine dwell condition and continuous sine condition. The simulation results show that the yaw rate and sideslip angle of the autonomous vehicle can be effectively controlled by the control strategy proposed. Moreover, compared with the pure sliding mode controller, the MAE and RMSE values of yaw rate and sideslip angle under the backstepping sliding mode control strategy are smaller, and the lateral stability of the autonomous vehicle is further improved.

Key words: autonomous vehicles, lateral stability, backstepping sliding mode control, torque distribution

中图分类号:

TG156

林棻, 郝明彪, 王天成, 王骁侠. 基于反步滑模法的无人驾驶车辆横向稳定性控制[J]. 机械工程学报, 2024, 60(10): 497-506.

LIN Fen, HAO Mingbiao, WANG Tiancheng, WANG Xiaoxia. Lateral Stability Control of Autonomous Vehicle Based on Backstepping Sliding Mode Method[J]. Journal of Mechanical Engineering, 2024, 60(10): 497-506.

参考文献

[1] 李克强，戴一凡，李升波，等. 智能网联汽车(ICV)技术的发展现状及趋势[J]. 汽车安全与节能学报，2017，8(1):1-14. LI Keqiang，DAI Yifan，LI Shengbo，et al. State-of-the-art and technical trends of intelligent and connected vehicles[J]. Journal of Automotive Safety and Energy，2017，8(1):1-14.
[2] 马建，刘晓东，陈轶嵩，等. 中国新能源汽车产业与技术发展现状及对策[J]. 中国公路学报，2018，31(8):1-19. MA Jian，LIU Xiaodong，CHEN Yisong，et al. Current status and countermeasures for china's new energy automobile industry and technology development[J]. China Journal of Highway and Transport，2018，31(8):1-19.
[3] GUO Ningyuan，ZHANG Xudong，ZOU Yuan，et al. A computationally efficient path-following control strategy of autonomous electric vehicles with yaw motion stabilization[J]. IEEE Transactions on Transportation Electrification，2020，6(2):728-739.
[4] LEE Hwangjae，CHOI Seibum. Development of collision avoidance system in slippery road conditions[J]. IEEE Transactions on Intelligent Transportation Systems，2022，23(10):19544-19556.
[5] ZHANG Wenliang，WANG Zhenpo，DRUGGE L，et al. Evaluating model predictive path following and yaw stability controllers for over-actuated autonomous electric vehicles[J]. IEEE Transactions on Vehicular Technology，2020，69(11):12807-12821.
[6] QIN Zhaobo，CHEN Liang，HU Manjiang，et al. A lateral and longitudinal dynamics control framework of autonomous vehicles based on multi-parameter joint estimation[J]. IEEE Transactions on Vehicular Technology，2022，71(6):5837-5852.
[7] QIU Bin，WEI Lingtao，WANG Xiangyu，et al. Path tracking of autonomous vehicle based on adaptive preview trajectory planning with the consideration of vehicle stability[J]. Proceedings of the Institution of Mechanical Engineers，Part D:Journal of Automobile Engineering，2023，237(6):1228-1240.
[8] WANG Xin，SUN Weichao. Trajectory tracking of autonomous vehicle:A differential flatness approach with disturbance-observer-based control[J]. IEEE Transactions on Intelligent Vehicles，2023，8(2):1368-1379.
[9] HWANG Yunhyoung，KANG C M，KIM W. Robust nonlinear control using barrier Lyapunov function under lateral offset error constraint for lateral control of autonomous vehicles[J]. IEEE Transactions on Intelligent Transportation Systems，2022，23(2):1565-1571.
[10] PARKASH A，SWARUP A. Application of asymmetric barrier Lyapunov function using ADRC approach for development of autonomous vehicle lateral control[J]. Journal of Vibration and Control，2023，29(9-10):2160-2171.
[11] ZHANG Zhida，ZHENG Ling，LI Yinong，et al. Cooperative strategy of trajectory tracking and stability control for 4WID autonomous vehicles under extreme conditions[J]. IEEE Transactions on Vehicular Technology，2022，72(3):3105-3118.
[12] WANG Weida，MA Taiheng，YANG Chao，et al. A path following lateral control scheme for four-wheel independent drive autonomous vehicle using sliding mode prediction control[J]. IEEE Transactions on Transportation Electrification，2022，8(3):3192-3207.
[13] WANG Chengmei，DU Yuchuan. Lane-changing strategy based on a novel sliding mode control approach for connected automated vehicles[J]. Applied Sciences，2022，12(21):11000.
[14] 王坚浩，李飞，胡剑波. 反演滑模变结构控制理论及应用[M]. 西安:西安电子科技大学出版社，2022. WANG Jianhao，LI Fei，HU Jianbo. Backstepping sliding mode variable structure control theory and application[M]. Xi'an:Xidian University Press，2022.
[15] JIN Xianjian，YIN Guodong. Estimation of lateral
tire-road forces and sideslip angle for electric vehicles using interacting multiple model filter approach[J]. Journal of the Franklin Institute，2015，352(2): 686-707.
[16] ZHANG Lin，DING Haitao，SHI Jianpeng，et al. An adaptive backstepping sliding mode controller to improve vehicle maneuverability and stability via torque vectoring control[J]. IEEE Transactions on Vehicular Technology，2020，69(3):2598-2612.
[17] 林棻，蔡亦璋，赵又群，等. 匹配机械弹性车轮的分布式驱动电动汽车稳定性控制[J]. 机械工程学报，2022，58(8):236-243. LIN Fen，CAI Yizhang，ZHAO Youqun，et al. Lateral stability control of distributed drive electric vehicle with mechanical elastic wheel[J]. Journal of Mechanical Engineering，2022，58(8):236-243.
[18] SUZUKI Y，KANO Y，ABE M. A study on tyre force distribution controls for full drive-by-wire electric vehicle[J]. Vehicle System Dynamics，2014，52(1):235-250.

基于反步滑模法的无人驾驶车辆横向稳定性控制

Lateral Stability Control of Autonomous Vehicle Based on Backstepping Sliding Mode Method

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	林棻, 蔡亦璋, 赵又群, 臧利国, 王少博. 匹配机械弹性车轮的分布式驱动电动汽车稳定性控制[J]. 机械工程学报, 2022, 58(8): 236-243.
[2]	吴西涛, 魏超, 翟建坤, 苑士华. 考虑横摆稳定性的无人车轨迹跟踪控制优化研究[J]. 机械工程学报, 2022, 58(6): 130-142.
[3]	阳鑫, 唐小林, 杨凯, 徐正平, 胡晓松. 极限工况下无人驾驶车辆运动规划策略研究[J]. 机械工程学报, 2022, 58(22): 349-359.
[4]	魏子茹, 卢延辉, 王鹏宇, 马天飞, 赵世杰. 基于CRITIC法的灰色关联理论在无人驾驶车辆测试评价中的应用[J]. 机械工程学报, 2021, 57(12): 99-108.
[5]	辛喆, 陈海亮, 林子钰, 孙恩鑫, 孙琪, 李升波. 智能汽车的路面附着极限横向轨迹跟踪控制[J]. 机械工程学报, 2020, 56(14): 138-145.
[6]	熊璐, 杨兴, 卓桂荣, 冷搏, 章仁夑. 无人驾驶车辆的运动控制发展现状综述[J]. 机械工程学报, 2020, 56(10): 127-143.
[7]	夏光, 杜克, 谢海, 唐希雯, 陈无畏. 基于侧倾分级的叉车横向稳定性变论域模糊控制[J]. 机械工程学报, 2019, 55(12): 157-167.
[8]	赵治国, 周良杰, 朱强. 无人驾驶车辆路径跟踪控制预瞄距离自适应优化[J]. 机械工程学报, 2018, 54(24): 166-173.
[9]	章仁燮, 熊璐, 余卓平, 柏满飞, 付志强. 基于条件积分算法的无人驾驶车辆轨迹跟踪鲁棒控制方法[J]. 机械工程学报, 2018, 54(18): 129-139.
[10]	刘凯, 龚建伟, 陈舒平, 张玉, 陈慧岩. 高速无人驾驶车辆最优运动规划与控制的动力学建模分析[J]. 机械工程学报, 2018, 54(14): 141-151.
[11]	张宁, 殷国栋, 陈南, 弥甜, 李鹏程. 车辆动力学中的摆振问题研究现状综述[J]. 机械工程学报, 2017, 53(14): 16-28.
[12]	孙扬, 熊光明, 陈慧岩, 姜岩, 龚建伟. 基于混沌理论的无人驾驶车辆行驶轨迹量化分析[J]. 机械工程学报, 2016, 52(2): 127-133.
[13]	张雪珊;肖新标;金学松. 高速车轮椭圆化对车辆系统行为的影响[J]. , 2010, 46(16): 67-73.
[14]	张雪珊;肖新标;金学松. 高速车轮椭圆化问题及其对车辆横向稳定性的影响[J]. , 2008, 44(3): 50-56.
[15]	朴明伟;樊令举;梁树林;兆文忠. 基于轮轨匹配的车辆横向稳定性分析[J]. , 2008, 44(3): 22-28.