高速无人驾驶车辆的操控稳定性研究

Translated title of the contribution: A Research on Handling Stability of High-speed Unmanned Vehicles

Kai Liu, Huiyan Chen, Jianwei Gong*, Shuping Chen, Yu Zhang

*Corresponding author for this work

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Abstract

Through analysis of the effect of road adhesion conditions and curvatures to the vehicle steering characteristics and stabilility, an equivalent dynamic model for high-speed unmanned vehicles is established. A model discretization method with variable steps is proposed to ensure a long enough prediction time domain while maintaining model prediction accuracy and computational feasibility. By analyzing the steady running state of high-speed vehicles, the envelope-based sideslip constraints are concluded and the trajectory tracking controller of high-speed unmanned vehicles based on model predictive control is designed. Simulation results validates that the proposed strategy can effectively ensure the vehicle handling stability under different road adhesion conditions and road curvatures.

Translated title of the contributionA Research on Handling Stability of High-speed Unmanned Vehicles
Original languageChinese (Traditional)
Pages (from-to)514-521
Number of pages8
JournalQiche Gongcheng/Automotive Engineering
Volume41
Issue number5
DOIs
Publication statusPublished - 25 May 2019

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Liu, K., Chen, H., Gong, J., Chen, S., & Zhang, Y. (2019). 高速无人驾驶车辆的操控稳定性研究. Qiche Gongcheng/Automotive Engineering, 41(5), 514-521. https://doi.org/10.19562/j.chinasae.qcgc.2019.05.006