智能四轮转向车辆车道保持控制研究
Research on Lane Keeping Control of Intelligent Four Wheel Steering Vehicle

针对智能四轮转向车辆车道保持系统控制行驶时的稳定性需求，提出了一种新的四轮主动转向车道保持控制策略。针对智能车辆车道保持和非线性车辆系统状态估计问题，设计了利用车辆传感模块、曲率预瞄模块结合基于自适应MPC算法的车道保持控制算法，对车辆的稳定性进行分析，设置约束条件，实现对参考车道的精确跟踪。设计权系数后轮主动转向最优控制器，实现四轮转向的最优控制，在Matlab/Simulink中对控制算法的效果进行了验证，仿真结果表明：基于自适应MPC车道保持的最优控制四轮转向方法具有良好的横向控制稳定性和车道保持控制精度。
Aiming at the stability requirements of intelligent four-wheel steering vehicle lane keeping system, a new four-wheel active steering lane keeping control strategy is proposed. Aiming at the problem of intelligent vehicle path tracking and nonlinear vehicle system state estimation, a lane keeping control algorithm based on vehicle sensor module, curvature preview module and adaptive MPC algorithm is designed to analyze the stability of vehicle and set constraints to achieve accurate tracking of reference lane. The weight coefficient optimal controller of rear wheel steering is designed to realize the optimal control of four-wheel steering. The effect of the control algorithm is verified in Matlab/Simulink. The simulation results show that the optimal control of four-wheel steering based on adaptive MPC lane keeping has good lateral control stability and lane keeping control accuracy.