| 紧急变道工况鲁棒性车辆轨迹跟踪策略 |
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| 引用本文： | 刘瑞,朱西产,李霖.紧急变道工况鲁棒性车辆轨迹跟踪策略[J].同济大学学报(自然科学版),2017,45(11):1659-1663. |
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| 作者姓名： | 刘瑞 朱西产 李霖 |
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| 作者单位： | 同济大学 汽车学院，上海 201804,同济大学 汽车学院，上海 201804,同济大学 智能型新能源汽车协同创新中心,上海 201804 |
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| 基金项目： | 国家重点研发计划(2016YFB0100904-2)，上海市科技成果转化和产业化项目(15DZ1100800) |
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| 摘 要： | 提出一种基于凸多面体方法的鲁棒性静态反馈紧急工况轨迹跟踪策略.使用侧向位移误差和车辆横摆角误差建立车辆轨迹跟踪模型.针对车辆紧急避让中车辆动态特性高度非线性的问题,使用凸多面体方法建立车辆轨迹跟踪的鲁棒性控制策略.通过Matlab和Carsim软件的联合仿真表明,本文的车辆轨迹跟踪策略具有较为良好的性能和鲁棒性.
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| 关 键 词： | 轨迹跟踪 鲁棒控制 凸多面体 线性矩阵不等式 |
| 收稿时间： | 2016/5/28 0:00:00 |
| 修稿时间： | 2017/9/28 0:00:00 |
Robust Trajectory Following Strategy during Emergency Lane change Condition |
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| LIU Rui,ZHU Xichan and LI Lin.Robust Trajectory Following Strategy during Emergency Lane change Condition[J].Journal of Tongji University(Natural Science),2017,45(11):1659-1663. |
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| Authors: | LIU Rui ZHU Xichan and LI Lin |
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| Institution: | School of Automotive Studies, Tongji University, Shanghai 201804, China,School of Automotive Studies, Tongji University, Shanghai 201804, China and Collaborative Innovation Center of Intelligent New Energy Vehicle, Tongji University, Shanghai 201804, China |
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| Abstract: | In this paper, a robust static feedback emergency trajectory following strategy based on polytope method was proposed. The vehicle trajectory following model by using the lateral displacement error and the vehicle yaw angle error was studied. To deal with the nonlinear vehicle dynamic response properties during emergency avoidance, the robust control strategy based on polytope method was presented. Simulations based on Matlab and Carsim joint platform demonstrate that the robust trajectory following strategy is effective and efficient. |
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| Keywords: | trajectory following robust control polytope linear matrix inequality |
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