Robust Vehicle Dynamics Control for a Sharp Curve With Uncertain Road Condition
Robust Vehicle Dynamics Control for a Sharp Curve With Uncertain Road Condition
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DOI：
10.3389/fenrg.2021.762246
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发表时间：
2021-10
影响因子：
2.8
通讯作者：
Jing Miao;Yifan Dai;Ou Xie;Hao-guang Chen;Fuzhou Niu;Yehu Shen;Y. Wu;Hui Sun;X. Niu;Qixin Zhu;Wenjiang Shen
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文献类型：
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作者：
Jing Miao;Yifan Dai;Ou Xie;Hao-guang Chen;Fuzhou Niu;Yehu Shen;Y. Wu;Hui Sun;X. Niu;Qixin Zhu;Wenjiang Shen
近年来，人们越来越多地研究开发联网自动驾驶汽车的应用，以确保自动驾驶汽车在某些极端情况下的安全驾驶。本文提出了一种鲁棒控制策略，用于自动驾驶汽车在通过不确定路面摩擦系数变化的急转弯时保持精确的跟踪性能和横向动力学的稳定性。在鲁棒横向动力学控制中，考虑道路摩擦系数的不确定性，设计了基于鲁棒优化的横向动力学控制器，以实现横向动力学的稳定性。仿真验证了所提出的控制策略。结果表明，在道路摩擦系数存在不确定性的情况下，基于鲁棒优化的横向动力学可以提高车辆的鲁棒性。
Recently, more and more research has been conducted to develop Connected Autonomous Vehicles (CAVs) applications that ensures the safety driving of CAVs under some extreme situations. This brief presents a robust control strategy for CAVs to preserve a precise tracking performance and maintain the stability of lateral dynamics when passing a sharp curve with uncertain road friction coefficient changes. In the proposed robust lateral dynamics control, robust optimization-based lateral dynamics controller is designed to achieve the stability of the lateral dynamics with the consideration of the road friction coefficient uncertainty. Simulation validations are carried out to evaluate the proposed control strategy. The results show that the robust optimization-based lateral dynamics can improve the robustness even with the uncertainty of the road friction coefficient.