英文标题
Cascade Control for Stable Lane Keeping by Intelligent Four-wheel Steering Vehicles
英文摘要
To ensure lane-keeping stability by intelligent four-wheel steering vehicles,we propose a cascade-control strategy that integrates direct yaw-moment control and lane-keeping control.The main controller provides front-wheel angle control for lane-keeping,and the deputy controller provides yaw stability control.The main control-ler,which is based on the model predictive control (MPC)algorithm,controls and adjusts the front-wheel an-gle to minimize horizontal-position and heading-angle deviations.The front-wheel angle of the main controller is input to the deputy controller to obtain the desired slip angle and yaw rate.The rear-wheel angle and yaw mo-ment are also input to the deputy controller,which calculates the compensation of the rear-wheel steering angle and yaw moment,based on the linear quadratic (LQ)algorithm,and the actual vehicle slip angle and yaw rate can track the desired slip angle and yaw rate.The front-wheel steering angle,rear-wheel steering angle,and yaw moment are the control inputs,and after achieving stability control,the main controller can achieve accu-rate lane-keeping to ensure that the intelligent vehicle drives safely inside the driving lane.The simulation re-sults demonstrate the effectiveness of the cascade-control strategy and its performance in improving the accuracy of intelligent-vehicle lane tracking,while also improving stability and maneuverability.
翻译关键词
cascade control
intelligent vehicle
stability lane keeping
linear quadratic programming
model predictive control
获取号
WF:perioarticalxxykz201604019
