基于多目標滑模控制的車輛換道軌跡跟蹤控制研究

鄧龍澤

摘 要：針對基于傳統滑模控制的車輛軌跡跟蹤控制精度不高、抖動現象明顯、穩定性不高等問題，本文設計了一種多目標姿態/軌跡跟蹤二階滑?？刂撇呗浴Ｒ攒囕v二自由度動力學模型為基礎，搭建軌跡跟蹤誤差模型，結合滑?？刂疲瑢崿F期望橫向位置和方位角的多目標的跟蹤控制，進而完成五次多項式換道軌跡的跟蹤控制，提高了軌跡跟蹤效果;并引入飽和函數，消弱滑?？刂频亩秳蝇F象。仿真表明：在不同工況下進行五次多項式換道控制，該控制器能夠消弱滑?？刂频亩秳蝇F象，提高軌跡跟蹤精度和穩定性。

關鍵詞：車輛換道 滑模控制 軌跡跟蹤

Research on Tracking Control of Vehicle Lane-changing Trajectory Based on Multi-target Sliding Mode Control

Deng Longze

Abstract：For the problems of low precision， obvious jitter， and low stability of vehicle trajectory tracking control based on traditional sliding mode control， this paper designs a second-order sliding mode control strategy for multi-target attitude/trajectory tracking. Based on the vehicle's two-degree-of-freedom dynamics model， a trajectory tracking error model is built， combined with sliding mode control， to achieve multi-target tracking control of desired lateral position and azimuth angle， and then to complete the tracking control of the fifth-order polynomial lane-changing trajectory， which improves trajectory tracking effect; the paper introduces a saturation function to weaken the jitter phenomenon of sliding mode control. The simulation shows that the fifth-order polynomial lane change control under different working conditions can reduce the jitter phenomenon of sliding mode control and improve the accuracy and stability of trajectory tracking.

Key words：vehicle lane changing， sliding mode control， trajectory tracking