Vehicle Path Tracking Control Considering Stability Boundaries and Roll Stability

doi:10.12068/j.issn.1005-3026.2024.08.008

Abstract

Abstract:

To address the conflict between tracking accuracy and vehicle stability in the path tracking task of autonomous vehicles， a path tracking controller considering lateral and roll stability was proposed. Firstly， a four?wheel independently?driven intelligent vehicle is taken as the research object to develop an integrated model predictive controller based on active steering and motor?driven torque distribution to ensure vehicle stability and tracking accuracy under extreme conditions. Secondly， vehicle stability constraints are designed using the phase plot method and the maximum side slip angle of tires to optimize dynamic performance， while roll constraints are established using the zero?moment method to prevent rollover. Finally， simulations comparing the proposed controller with the existing ones demonstrate that the new controller can maximize vehicle dynamics to the fullest， and enhance path tracking precision while concurrently ensuring vehicle stability.

Key words: lateral stability boundary, roll stability, path tracking control, intelligent vehicle, model predictive control

CLC Number:

U 270.1

Chuan-yin TANG, Lyu PAN, Jing-hong LI, Ming-li ZHANG. Vehicle Path Tracking Control Considering Stability Boundaries and Roll Stability[J]. Journal of Northeastern University(Natural Science), 2024, 45(8): 1123-1134.

Figures/Tables 16

Fig. 1 Vehicle dynamics model

Table 1 Basic vehicle parameters

参数	数值
整车质量m/kg	1 760
簧上质量 $m s$ /kg	1 598
质心高度 $h$ /m	0.6
轮距 $T r$ /m	1.6
悬架侧倾刚度 $K ? / (N ? m ? r a d - 2)$	145 330
悬架侧倾阻尼 $D ? / (N ? m ? r a d - 2)$	4 500
前轴到质心的距离 $L f / m$	1.4
后轴到质心的距离 $L r / m$	1.6
后轮侧偏刚度 $C α r / (k N ? r a d - 1)$	$55$
前轮侧偏刚度 $C α f / (k N ? r a d - 1)$	$55$
x轴转动惯量 $I x / (k g ? m 2)$	$750$
z轴转动惯量 $I z / (k g ? m 2)$	1 636

Table 1 Basic vehicle parameters

参数	数值
整车质量m/kg	1 760
簧上质量 $m s$ /kg	1 598
质心高度 $h$ /m	0.6
轮距 $T r$ /m	1.6
悬架侧倾刚度 $K ? / (N ? m ? r a d - 2)$	145 330
悬架侧倾阻尼 $D ? / (N ? m ? r a d - 2)$	4 500
前轴到质心的距离 $L f / m$	1.4
后轴到质心的距离 $L r / m$	1.6
后轮侧偏刚度 $C α r / (k N ? r a d - 1)$	$55$
前轮侧偏刚度 $C α f / (k N ? r a d - 1)$	$55$
x轴转动惯量 $I x / (k g ? m 2)$	$750$
z轴转动惯量 $I z / (k g ? m 2)$	1 636

Fig. 2 Relationship between tire lateral force and sideslip angle

Fig. 3 Phase plan under different front wheel angles

Fig. 4 Stability boundary under different front wheel angles at 27 m/s

Fig. 5 Stability boundary under different front wheel angles at 22 m/s

Fig. 6 Schematic diagram of the zero?moment point

Fig. 7 Model predictive controller framework

Table 2 Basic parameters of the controller

参数	数值
预测时域长度 $N$ (该变量无单位)	15
离散步长/s	$0.02$
前轮转角最大变化率 $Δ δ f / (r a d ? s - 1)$	$0.08$
前轮最大转角 $δ f, m a x / r a d$	$0.4$
最大附加横摆力矩 $M m a x / N ? m$	$400$
附加横摆力矩最大变化率 $Δ M / N ? m$	$800$

Table 2 Basic parameters of the controller

参数	数值
预测时域长度 $N$ (该变量无单位)	15
离散步长/s	$0.02$
前轮转角最大变化率 $Δ δ f / (r a d ? s - 1)$	$0.08$
前轮最大转角 $δ f, m a x / r a d$	$0.4$
最大附加横摆力矩 $M m a x / N ? m$	$400$
附加横摆力矩最大变化率 $Δ M / N ? m$	$800$

Fig. 8 Steering wheel angle during J?turn operation

Fig. 9 Comparison between the zero moment point and tire load ratio

Fig. 10 Comparison curves of simulation results

Fig.11 Additional yaw moment

Fig.12 Motor torque distribution

Fig. 13 Simulation results for high?speed lane changes

Fig. 14 Simulation results under complex road

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