智能汽车路径跟踪精度及操纵稳定性耦合机理分析

针对现有智能汽车路径跟踪算法研究中存在的智能汽车路径跟踪精度与操纵稳定性相互耦合和相互制约问题,在车辆二自由度模型基础上,设计了基于传统预瞄误差模型的PID控制方法,研究了智能汽车在蛇形道路工况、定曲率变车速工况和定车速变曲率工况下,车速及道路曲率对智能汽车路径跟踪精度和操纵稳定性的影响。仿真结果表明,随着车速和道路曲率的增加,智能汽车路径跟踪精度以及操纵稳定性降低;智能汽车的路径跟踪精度提高,操纵稳定性变差。

Mechanism Analysis of the coupling Between Intelligent Vehicle Path Tracking Accuracy and Steering Stability

In view of the coupling between the path tracking accuracy and the steering stability in the existing routing algorithms for intelligent vehicles, the paper designed a PID controller based on the traditional preview error model for a two-degree-of-freedom vehicle model. The paper studied the effects of vehicle speed and road curvature on the path tracking accuracy and maneuverability stability of the smart vehicle under conditions of the snake-shaped road, the road with constant curvature and the road with variable curvature. The simulation results show that with the increase of vehicle speed and road curvature,both the path tracking accuracy and handling stability decrease. While the path tracking accuracy increases,the handling stability decreases.