分布式四轮驱动汽车轨迹跟踪与横向稳定性协调控制策略OA

Distributed four-wheel drive vehicles at high speeds are prone to losing stability on low-adhesion roads.To address the issue,this paper develops a control strategy integrating path tracking and lateral stability coordination.The trajectory tracking part builds a three-degree-of-freedom vehicle dynamics model and combines MPC to achieve the optimal tracking of the front wheel angle.The stability part designs a hierarchical control strategy.The upper layer employs sliding mode control to generate the required additional yaw moment.The lower layer designs a torque distribution optimization strategy targeting tire adhesion utilization rate based on weighted least squares(WLS).Finally,two road conditions with different adhesion coefficients at a speed of 85 km/h are designed using Carsim and Simulink software.Joint simulations are carried out for verification.Results show when the reference trajectory is designed as a double lane change,the stability control significantly improves the trajectory tracking accuracy and lateral stability of distributed drive vehicles in extreme conditions compared with the control model without stability control.The improvement is even more pronounced when vehicles are driving at relatively high speeds on low-adhesion roads.