典型文献
Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control
文献摘要：
It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions.In this study,an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm.The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model.To adaptively adjust the priorities of path tracking accuracy and vehicle stability,an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function.An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions.To ensure vehicle stability,the sideslip angle,yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame.It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and large-curvature conditions.
文献关键词：
中图分类号：
作者姓名：
Ying Tian;Qiangqiang Yao;Peng Hang;Shengyuan Wang
作者机构：
Beijing Key Laboratory of Powertrain for New Energy Vehicle,School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China;School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore 639798,Singapore
文献出处：
引用格式：
[1]Ying Tian;Qiangqiang Yao;Peng Hang;Shengyuan Wang-.Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control)[J].中国机械工程学报,2022(01):223-237
A类：
cornering
B类：
Adaptive,Coordinated,Path,Tracking,Control,Strategy,Autonomous,Vehicles,Direct,Yaw,Moment,It,striking,that,path,tracking,accuracy,autonomous,vehicles,active,front,wheel,steering,poor,under,high,speed,large,curvature,conditions,In,this,study,control,strategy,coordinates,direct,yaw,moment,proposed,model,predictive,algorithm,recursive,least,square,forgetting,used,identify,rear,tire,stiffness,update,system,prediction,To,adaptively,adjust,priorities,stability,fuzzy,rules,applied,change,weight,coefficients,cost,function,An,coordinating,improve,ensure,sideslip,angle,zero,methods,construct,optimization,constraints,frame,verified,through,simulation,experiments,coordinated,can
AB值：
0.489908
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
