紧急变道工况鲁棒性车辆轨迹跟踪策略

Robust Trajectory Following Strategy during Emergency Lanechange Condition

摘要:

提出一种基于凸多面体方法的鲁棒性静态反馈紧急工况轨迹跟踪策略.使用侧向位移误差和车辆横摆角误差建立车辆轨迹跟踪模型.针对车辆紧急避让中车辆动态特性高度非线性的问题，使用凸多面体方法建立车辆轨迹跟踪的鲁棒性控制策略.通过Matlab和Carsim软件的联合仿真表明，本文的车辆轨迹跟踪策略具有较为良好的性能和鲁棒性.

关键词:轨迹跟踪; 鲁棒控制; 凸多面体; 线性矩阵不等式

Abstract:

In this paper, a robust static feedback emergency trajectory following strategy based on polytope method was proposed. The vehicle trajectory following model by using the lateral displacement error and the vehicle yaw angle error was studied. To deal with the nonlinear vehicle dynamic response properties during emergency avoidance, the robust control strategy based on polytope method was presented. Simulations based on Matlab and Carsim joint platform demonstrate that the robust trajectory following strategy is effective and efficient.

Key words:trajectory following; robust control; polytope; linear matrix inequality