轮胎动力学对前轮转向和差速电机扭矩自动车辆路径跟踪控制的影响,IET Intelligent Transport Systems

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轮胎动力学对前轮转向和差速电机扭矩自动车辆路径跟踪控制的影响
IET Intelligent Transport Systems ( IF 2.3 ) Pub Date : 2023-04-03 , DOI: 10.1049/itr2.12356
Shilei Zhou _{1,

2} , Yang Tian ₁ , Paul Walker ₂ , Nong Zhang ₂

Affiliation

本文研究了轮胎动力学对自动驾驶车辆动态控制的影响。分别建立常用的二自由度自行车模型和考虑轮胎动力学的详细车辆模型来描述车辆动力学。首先比较这两个模型对前轮转向输入和差动电机扭矩输入的响应。详细模型清楚地展示了瞬态车身振动，但自行车模型却忽略了这一点。还揭示了轮胎非线性对路径偏移的影响。然后，基于线性二次调节器控制设计路径跟踪控制策略，从路径跟踪性能角度比较两种模型。进行双车道变换模拟。结果表明，在低速行驶时，两个模型的路径跟随误差非常接近，证明了使用自行车模型来表示温和和中等驾驶条件下车辆动力学的合理性。然而，当车速较高时进行路径跟随时，所需的轮胎侧向力较大，因此轮胎在较大的滑移角下工作，并且轮胎的非线性使两个模型之间的路径跟随误差产生显着的偏差。

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Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque

This paper investigates the impact of tyre dynamics on autonomous vehicle dynamic control. The commonly used 2 degrees of freedom bicycle model and a detailed vehicle model considering tyre dynamics are built, respectively, to describe the vehicle dynamics. The two models are firstly compared with the response to front wheel steering input and differential motor torque input. The transient vehicle body vibrations are clearly demonstrated by the detailed model but overlooked by the bicycle model. The influence of tyre nonlinearity on path offset is also revealed. Then, the path following control strategy is designed based on the linear quadratic regulator control to compare the two models from the path following performance perspective. The double lane change simulation is conducted. The results show that at low vehicle speed, the path following errors of two models are very close, which proves the rationality of using the bicycle model to represent the vehicle dynamics in mild and moderate driving conditions. However, when the path following is conducted with high vehicle speed, the required lateral tyre force is large, so the tyres work with large slip angles and the tyre nonlinearity generates significant deviation on the path following errors between the two models.

更新日期：2023-04-03

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