Lane keeping Control Based on PWA Vehicle Model

摘要：

　　When the road surface adhesion coefficient is low,the tire cornering force exhibits strong nonlinearity.In this situation,the general 2DOF(degree-of-freedom)vehicle model is deviated from the actual vehicle model,and the controller performance based on the model is inevitably reduced.In this paper,we use PWA(Piecewise Affine)method to linearize the lateral force of vehicle tire.Based on the PWA(Piecewise Affine)vehicle model and lateral driver model,the optimal steering wheel angle is calculated and the lane keeping controller is designed.The simulation results show that the performance of the lane keeping controller is better than that of the controller designed based on the general 2 DOF vehicle model when the road surface adhesion coefficient is low.

关键词： lane keeping control PWA vehicle model steering wheel angle tire cornering force

作者: Zhang Bingli Zhang Jie Huang He Lv Minyu

作者单位: School of Automobile and Traffic Engineering,Hefei University of Technology

会议类型: 国内会议

会议名称: 第19届亚太汽车工程年会暨2017中国汽车工程学会年会

会议地点: 上海

会议语种:英文

页码: 68-72

在线出版日期: 2017-10-24（万方平台首次上网日期，不代表论文的发表时间）