汽车工程 ›› 2023, Vol. 45 ›› Issue (1): 20-31.doi: 10.19562/j.chinasae.qcgc.2023.01.003
所属专题: 智能网联汽车技术专题-控制2023年
徐璞磊1,蔡英凤1(),廉玉波2,孙晓强1,王海3,陈龙1,钟益林2
收稿日期:
2022-07-31
修回日期:
2022-08-23
出版日期:
2023-01-25
发布日期:
2023-01-18
通讯作者:
蔡英凤
E-mail:caicaixiao0304@126.com
基金资助:
Pulei Xu1,Yingfeng Cai1(),Yubo Lian2,Xiaoqiang Sun1,Hai Wang3,Long Chen1,Yilin Zhong2
Received:
2022-07-31
Revised:
2022-08-23
Online:
2023-01-25
Published:
2023-01-18
Contact:
Yingfeng Cai
E-mail:caicaixiao0304@126.com
摘要:
针对紧急避障及大曲率工况的稳定控制难题,提出基于改进分层可拓理论的AFS和DYC协调控制系统,引入了鲸鱼算法解决了可拓边界的自适应划分问题,既简化了分层可拓理论的边界确定过程,又遏制了控制器的一些较为强烈的输出振荡,显著提高了车辆控制的稳定性和安全性。所提AFS/DYC协调控制系统分上下两层,上层是改进分层可拓协调模块,下层是AFS/DYC控制器模块。上层可拓协调模块主要通过横摆角速度、纵向车速以及规划路径曲率来确定AFS和DYC的权重系数,下层控制器模块主要通过上层协调模块确定的权重系数来分配AFS和DYC的输出量,最终实现对智能车辆的稳定性控制。Carsim和Simulink联合仿真结果表明,所提协调控制系统在紧急避障、双移线等大曲率及曲率突变工况下,对横摆角速度和纵向车速的控制效果相较于分层可拓控制、普通可拓控制均有较大提升。
徐璞磊,蔡英凤,廉玉波,孙晓强,王海,陈龙,钟益林. 基于改进分层可拓理论的智能汽车AFS/DYC协调控制[J]. 汽车工程, 2023, 45(1): 20-31.
Pulei Xu,Yingfeng Cai,Yubo Lian,Xiaoqiang Sun,Hai Wang,Long Chen,Yilin Zhong. AFS/DYC Coordinated Control of Intelligent Vehicles Based on Improved Hierarchical Extensibility Theory[J]. Automotive Engineering, 2023, 45(1): 20-31.
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