智能车辆路径跟随抗干扰性研究

基于H∞控制理论,研究了智能车辆路径跟随中的抗干扰性问题。分析智能车辆在路径跟随过程中可能受到的干扰因素,设计控制器,使整个系统具有良好的抗干扰能力。研究了智能车辆在不同速度和不同路面附着系数下的控制效果,分析了前轮转角、质心侧偏角与横摆角速度的变化。结果表明:在侧向风与道路变化的扰动下,在不同的车速与不同道路附着系数的情况下,车辆侧向位移偏差逐渐减小并且收敛;质心侧偏角与横摆角速度的变化趋于稳定。说明在控制器的作用下,智能车辆在路径跟随过程中可以较好地抵抗外界干扰,具有较好的稳定性。

Research on Anti-interference of Intelligent Vehicle Path Tracking

Based on H∞control theory,the path tracking control of intelligent vehicle is proposed.Considering the possible interference of various factors in the path tracking process,the controller is designed to make the whole system have good anti-interference ability and robustness.The control effect of intelligent vehicle at different speeds and under different road adhesion coefficients is presented.The results show that,under the disturbance of lateral wind and road changes,with different speeds and different road adhesion coefficients,the lateral displacement deviation decreases gradually and the final deviation converges to zero.The change of yaw angle and yaw velocity tends to be stable finally.This indicates that,under the action of the controller proposed,the intelligent vehicles can well resist external interference in the process of path tracking and have good stability in the process of driving.