基于多目标滑模控制的车辆换道轨迹跟踪控制研究

邓龙泽

摘 要：針对基于传统滑模控制的车辆轨迹跟踪控制精度不高、抖动现象明显、稳定性不高等问题，本文设计了一种多目标姿态/轨迹跟踪二阶滑模控制策略。以车辆二自由度动力学模型为基础，搭建轨迹跟踪误差模型，结合滑模控制，实现期望横向位置和方位角的多目标的跟踪控制，进而完成五次多项式换道轨迹的跟踪控制，提高了轨迹跟踪效果;并引入饱和函数，消弱滑模控制的抖动现象。仿真表明：在不同工况下进行五次多项式换道控制，该控制器能够消弱滑模控制的抖动现象，提高轨迹跟踪精度和稳定性。

关键词：车辆换道 滑模控制 轨迹跟踪

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