王健1，王金波1*，于蓬2，杨君1，郑金凤2
1.山东交通学院汽车工程学院，山东济南250357；2.山东明宇新能源技术有限公司，山东济南271100
摘要：建立车辆动力学模型，研究车辆在高速避让工况下的路径跟踪控制策略。基于自抗扰控制设计车辆横摆角速度以及道路曲率2种不同的路径跟踪控制器；设计基于车辆偏航位移和偏航角度加权的线性二次最优控制器；对3种控制器控制效果进行仿真验证，分析路径跟踪侧向位移误差、侧向加速度、前轮转向角以及偏航角度变化。越野车实车测试结果表明，路径跟踪控制策略正确。
关键词：高速避让；控制策略；自抗扰控制；路径跟踪
Abstract:High speed collision avoidance technology can avoid rearend collision of vehicles at high speed and can improve the driving safety of vehicles. On the basis of two degrees of freedom vehicle dynamics model, the path tracking control strategy for high speed collision avoidance is studied. Three path tracking controllers are designed based on vehicle yawing angular velocity, road curvature, vehicle yaw displacement and yaw angle by using active disturbance rejection control method and linear quadratic optimal control method. The control effects are compared by analyzing the lateral displacement error, vehicle yaw angle, lateral acceleration and front wheel angle. In order to verify the correctness of the path tracking control strategy, a lightduty offroad vehicle is used for real vehicle tests.
Keywords:high speed collision avoidance; control strategy; ADRC; path tracking
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