考虑参数摄动的智能汽车动态侧向避障鲁棒控制策略

汽车加速度和速度因交通环境障碍物实时动态变化，智能汽车避障实时参考轨迹不光滑变化；参数摄动，车速实时变化和采集信号干扰，将造成智能汽车动态侧向避障精准控制困难。为此，提出考虑参数摄动的智能汽车动态侧向避障鲁棒控制策略。该控制策略分为动态轨迹规划层和动态轨迹跟踪层；动态轨迹规划层依据障碍物汽车加速度和速度动态变化，采用基于避障极限位置的动态轨迹规划算法，以规划能够保证智能汽车侧向安全避障的实时参考轨迹；动态轨迹跟踪层设计了考虑了质量、转动惯量和前后侧偏刚度参数摄动的鲁棒控制器，以实现实时动态参考轨迹精准跟踪。最后，利用Matlab/Simulink和Trucksim软件联合仿真，进行所提控制策略仿真验证。仿真结果表明：动态轨迹规划层能够依据障碍物汽车加速度和速度实时变化，实时规划了安全侧向避障动态参考轨迹；轨迹跟踪层克服了质量、转动惯量、前后侧偏刚度参数摄动，以及实时参考轨迹不光滑动态变化，平滑良好地跟踪了侧向避障实时参考轨迹。因此，所提控制策略实现了智能汽车安全动态侧向避障，同时确保了避障过程汽车横摆稳定性。

Robust control strategy for dynamic lateral obstacle avoidance of intelligent vehicle considering parameter perturbation

The dynamic change of velocity and acceleration of obstacle vehicle under the actual dynamic traffic environmental can cause the unsmooth change of the real-time reference trajectory of lateral obstacle for intelligent vehicle. To overcome the poor control effect of the controller caused by the unsmooth trajectory, parameter perturbation and signal disturb, the robust control strategy for dynamic lateral obstacle avoidance of intelligent vehicles considering parameter perturbation was presented. The strategy includes dynamic trajectory planning and dynamic trajectory tracking. In the dynamic trajectory planning, according to dynamic change of acceleration and velocity of obstacle vehicle, the dynamic trajectory planning algorithm based on obstacle avoidance limit position was proposed to plan real-time reference trajectory which can ensure lateral safety of obstacle avoidance for intelligent vehicles. In the dynamic trajectory tracking, with consideration of the perturbation of mass, moment of inertia and front and rear lateral stiffness parameters, a robust controller considering parameter perturbation was designed to accurately track real-time reference trajectory of lateral obstacle avoidance. Finally, the proposed dynamic lateral obstacle avoidance control strategy was validated by combining Matlab/Simulink with Trucksim. The simulation results indicate that according to the real-time change of acceleration and speed of obstacle vehicle, the real-time safety reference trajectory of lateral obstacle avoidance can be achieved in the dynamic trajectory planning. The real-time reference trajectory of lateral obstacle avoidance can be smoothly,stably and well tracked in the dynamic trajectory tracking. Therefore, the proposed control strategy realizes the dynamic lateral obstacle avoidance of intelligent vehicles while ensuring the vehicle yaw stability during the whole process of obstacle avoidance.