智能车横、纵向运动综合控制方法研究

发布时间：2018-12-30 10:24

【摘要】：随着科学技术的进步,车辆智能化成为汽车工业发展的必然方向。智能汽车作为多学科高端技术的结合,为解决日益严重的交通问题带来了新的思路和方法。现阶段智能车的发展还有很多技术需要优化,车辆运动的智能控制是智能车研究的关键技术之一,直接决定着车辆能否在人类期望状态下行驶。本文针对车辆整车的运动控制方法展开了研究,目的是建立车辆横纵向运动的综合控制系统。根据本文控制系统的设计思路,经分析需要建立三个车辆动力学模型:解耦的横、纵向独立动力学模型和整车动力学模型。在一系列假设的基础上,建立了考虑车辆和道路中心线相对位置的横向动力学模型和包括整车纵向动力学与传动系动力学的纵向动力学模型,并在MATLAB/Simulink中进行了建模。考虑到整车动力学模型的准确性,在AMESim软件中建立了车辆十五自由度整车模型。三个动力学模型的建立为控制系统的设计奠定了基础。分析车辆参数对横向动力学模型的影响,为了降低模型的不确定性,把车辆纵向速度划分为子区间进行横向控制器的设计。基于模糊控制逻辑分别设计了每个子区间对应的控制器,在每个子区间设置了重叠部分,基于模糊隶属度函数思想对过度区域设置权重,完成了整个横向控制系统的设计。纵向控制系统基于分层结构方法,上位控制器选用了经典的固定车头时距策略,下位控制基于模糊逻辑控制建立了加速和制动的独立控制器,考虑车辆当前状态设计了二者的切换逻辑,结合上下位控制器组成车辆纵向控制系统。在MATLAB/Simulink中设计适当的工况进行仿真,结果显示所设计的横、纵向独立的控制系统具有很好的控制效果。结合所设计的横、纵向控制系统,以速度为结合点进行控制系统的耦合。通过MATLAB/Simulink和AMESim联合仿真建立了整车控制系统仿真模型,设计了车辆典型工况,完成了整车控制系统的调试。仿真结果表明所设计的整车控制系统效果良好。为了验证所设计控制系统的可行性,基于dSPACE快速控制原型进行了智能车执行机构的设计。实车试验结果表明车辆运动执行机构能较准确跟随控制系统的输出量,证明了整车控制系统的可行性。
[Abstract]:With the progress of science and technology, vehicle intelligence has become the inevitable direction of automobile industry development. As a combination of multi-disciplinary and high-end technology, intelligent automobile brings new ideas and methods to solve the increasingly serious traffic problems. At present, there are still many technologies to optimize the development of intelligent vehicle. Intelligent control of vehicle motion is one of the key technologies of intelligent vehicle research, which directly determines whether the vehicle can travel in the expected state of human beings. In this paper, the motion control method of the whole vehicle is studied. The purpose of this paper is to establish a comprehensive control system for the transverse and longitudinal movement of the vehicle. According to the design idea of the control system in this paper, three vehicle dynamics models need to be established through analysis: decoupled lateral, longitudinal independent dynamics model and vehicle dynamics model. On the basis of a series of hypotheses, a transverse dynamic model considering the relative position of the vehicle and the road centerline and a longitudinal dynamic model including the longitudinal dynamics of the vehicle and the dynamics of the transmission system are established, and the model is built in MATLAB/Simulink. Considering the accuracy of vehicle dynamics model, a vehicle model with 15 degrees of freedom is established in AMESim software. The establishment of three dynamic models lays a foundation for the design of control system. The influence of vehicle parameters on the lateral dynamic model is analyzed. In order to reduce the uncertainty of the model, the longitudinal velocity of the vehicle is divided into subsections to design the horizontal controller. The controller corresponding to each subinterval is designed based on fuzzy control logic and overlapped parts are set up in each subinterval. The whole transverse control system is designed based on the idea of fuzzy membership function. The longitudinal control system is based on the hierarchical structure method, the upper controller selects the classical fixed head-distance strategy, and the lower control is based on fuzzy logic control to establish an independent controller for acceleration and braking. Considering the current state of the vehicle, the switching logic is designed, and the vertical control system of the vehicle is composed of the upper and lower controllers. The simulation results show that the designed horizontal and vertical independent control system has a good control effect. Combined with the designed horizontal and longitudinal control system, the coupling of the control system is carried out with the velocity as the joint point. The simulation model of vehicle control system is established by MATLAB/Simulink and AMESim simulation. The typical working condition of vehicle is designed and the debugging of vehicle control system is completed. Simulation results show that the designed vehicle control system is effective. In order to verify the feasibility of the designed control system, the intelligent vehicle actuator is designed based on the dSPACE rapid control prototype. The actual vehicle test results show that the vehicle motion actuator can follow the output of the control system more accurately, which proves the feasibility of the whole vehicle control system.
【学位授予单位】：贵州大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.6

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