鄧龍澤

摘 要：針對(duì)基于傳統(tǒng)滑?？刂频能囕v軌跡跟蹤控制精度不高、抖動(dòng)現(xiàn)象明顯、穩(wěn)定性不高等問(wèn)題，本文設(shè)計(jì)了一種多目標(biāo)姿態(tài)/軌跡跟蹤二階滑模控制策略。以車輛二自由度動(dòng)力學(xué)模型為基礎(chǔ)，搭建軌跡跟蹤誤差模型，結(jié)合滑?？刂疲瑢?shí)現(xiàn)期望橫向位置和方位角的多目標(biāo)的跟蹤控制，進(jìn)而完成五次多項(xiàng)式換道軌跡的跟蹤控制，提高了軌跡跟蹤效果;并引入飽和函數(shù)，消弱滑模控制的抖動(dòng)現(xiàn)象。仿真表明：在不同工況下進(jìn)行五次多項(xiàng)式換道控制，該控制器能夠消弱滑模控制的抖動(dòng)現(xiàn)象，提高軌跡跟蹤精度和穩(wěn)定性。

關(guān)鍵詞：車輛換道 滑?？刂?軌跡跟蹤

Research on Tracking Control of Vehicle Lane-changing Trajectory Based on Multi-target Sliding Mode Control

Deng Longze

Abstract：For the problems of low precision， obvious jitter， and low stability of vehicle trajectory tracking control based on traditional sliding mode control， this paper designs a second-order sliding mode control strategy for multi-target attitude/trajectory tracking. Based on the vehicle's two-degree-of-freedom dynamics model， a trajectory tracking error model is built， combined with sliding mode control， to achieve multi-target tracking control of desired lateral position and azimuth angle， and then to complete the tracking control of the fifth-order polynomial lane-changing trajectory， which improves trajectory tracking effect; the paper introduces a saturation function to weaken the jitter phenomenon of sliding mode control. The simulation shows that the fifth-order polynomial lane change control under different working conditions can reduce the jitter phenomenon of sliding mode control and improve the accuracy and stability of trajectory tracking.

Key words：vehicle lane changing， sliding mode control， trajectory tracking