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基于轮胎状态刚度预测的极限工况路径跟踪控制研究
王国栋; 刘洋; 李绍松; 卢晓晖; 张邦成
Source Publication自动化学报
ISSN0254-4156
2022
Volume48Issue:6Pages:1590-1600
Abstract为解决高速极限工况下自动驾驶车辆紧急避撞时传统路径跟踪控制方法因轮胎力表达不精确导致的路径跟踪失败问题,提出一种基于轮胎状态刚度预测的模型预测路径跟踪控制方法.首先,基于非线性UniTire轮胎模型求解的轮胎状态刚度对非线性轮胎力进行线性化处理.其次,基于期望路径信息提出状态刚度预测方法,实现预测时域内轮胎力的预测和线性化.最后, MATLAB和CarSim联合仿真实验表明:所提出的方法能够明显改善高速极限工况下的避撞控制效果.
Keyword自动驾驶车辆 路径跟踪 转向避撞 模型预测控制 状态刚度预测
DOI10.16383/j.aas.c190349
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/56346
Collection学术期刊_自动化学报
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GB/T 7714
王国栋,刘洋,李绍松,等. 基于轮胎状态刚度预测的极限工况路径跟踪控制研究[J]. 自动化学报,2022,48(6):1590-1600.
APA 王国栋,刘洋,李绍松,卢晓晖,&张邦成.(2022).基于轮胎状态刚度预测的极限工况路径跟踪控制研究.自动化学报,48(6),1590-1600.
MLA 王国栋,et al."基于轮胎状态刚度预测的极限工况路径跟踪控制研究".自动化学报 48.6(2022):1590-1600.
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