四驱混合动力轿车转弯工况路径跟踪控制

Path Tracking Control of Four-Wheel Drive Hybrid Electric Car in Steering

摘要:

针对四驱混合动力轿车，提出一种转弯工况下集成横向与纵向运动控制功能的路径跟踪控制策略.在建立车辆动力学与动力系统模型的基础上，设计了基于轨迹跟踪误差的驾驶员预瞄转向模型；采用模糊控制器确定了期望车速，对转矩分配问题进行优化研究；设计了车速与轨迹跟踪模型预测控制器；搭建了CarSim与MATLAB/Simulink联合仿真模型与自动驾驶模拟驾驶器，对控制策略进行了离线仿真和硬件在环仿真试验.研究结果表明，车辆转弯过程中路径及车速跟踪效果良好，满足转弯工况路径跟踪需求.

关键词:混合动力轿车;路径跟踪;预测控制;驾驶员模型

Abstract:

A path tracking control strategy integrating lateral and longitudinal control under steering conditions is proposed for a four-wheel hybrid vehicle. Based on vehicle dynamics and motion model, a driver preview steering model based on trajectory tracking error is designed. The desired speed is determined by using fuzzy controller, and the distribution of torque is optimized. The model predictive controller of vehicle speed and trajectory tracking is designed, and a driving simulator integrating CarSim and MATLAB/Simulink co-simulation platform is built to simulate the control strategy. The results show that the tracking effect of vehicle path and speed during steering is good, which meets the requirement of path tracking in steering condition.

Key words:hybrid vehicle; path tracking; predictive control; driver model