高速地面车辆主动危险规避最优运动规划与控制的动力学模型分析

This work mainly studies some difficult problems on dynamic modeling and analysis of optimal motion planning and control for high speed ground vehicle active hazard avoidance, aiming to improve the model's computational real-time ability, realize the motion trajectory's optimality with the vehicle's handling stability, and analyze the control stability of vehicle yaw dynamic model with varying time acceleration when it tracks the trajectory with time varying curvatures. And the highlights are as follows:..(1) Systematically propose the modeling simplification method with equivalent constraints to tire slip and vehicle body rollover, using differential flatness theory of nonlinear system, oscillation center of the vehicle dynamic model, and point mass model with acceleration constraint to reduce the dimension or order of the vehicle states in its dynamic models. And the convenient online parameter adjustment requirement of backstepping technique based adaptive sliding mode control approach are taken into account, as well as that of model predictive control based motion planning and control method. ..(2) Propose a new method to analyze the control stability of vehicle yaw dynamic model with varying time acceleration when it tracks the trajectory with time varying curvatures, combining the advantages of the energy shaping control and Lyapunov nonlinear stability control theory...(3) Propose a general method to guarantee the motion trajectory's optimality with the vehicle's handling stability, with the online ability to observe the vehicle's states and evaluate the motion planning optimality, as well as some essential model's control stability...And the methods or theory will be tested and evaluated by simulation experiments or real vehicle tests.

在高速地面车辆主动危险规避的运动规划与跟踪控制过程中，滑移和侧倾是很难克服的高度非线性极限约束，容易导致车辆失控甚至侧翻，本项目旨在突破该问题动力学建模分析过程中存在的理论难点。.1)提高计算实时性：利用非线性系统的微分平坦理论及平坦位置振动中心理论、受加速度约束的点质量模型等概念进行滑移与侧倾的模型等效简化，同时结合模型预测控制、自适应滑模变结构车辆状态参数在线调整需求，系统地提出满足实时性要求的等效约束模型实现方法；.2)突破时变曲率轨迹跟踪控制稳定性分析难点：结合成形能量控制和Lyapunov非线性稳定性分析理论的优点，提出时变加速度车辆横摆动力学模型在跟踪时变曲率轨迹的控制稳定性分析新方法；.3)实现车辆稳定性最优运动轨迹规划：提出在高速、滑移、侧倾等复杂非线性约束下的车辆稳定性最优运动规划理论。

在高速地面车辆主动危险规避的运动规划与跟踪控制过程中，滑移和侧倾等非线性动力学约束是关系到车辆稳定性的关键因素，这些约束的失效会导致车辆失控甚至侧翻。本项目旨在突破该问题动力学建模分析过程中存在的理论难点，主要解决运动规划与控制的计算实时性、运动规划轨迹对车辆操纵稳定性的最优性、时变曲率轨迹跟踪的控制稳定性问题。在目前国际前沿和申请人前期研究成果的基础上，进一步优化考虑车辆稳定性约束的动力学模型等效性简化方法，提高车辆模型有效性和计算实时性；深入研究包络线控制方法，结合环境因素、稳定性条件以及车辆操纵特性提出针对车辆稳定性的评价分析方法；突破时变加速度动力学模型在跟踪时变曲率轨迹的控制稳定性理论分析难点，并将分析结果用于解决规划轨迹对车辆操纵稳定性最优性评价。最终形成在高速、复杂非线性动力学模型约束下的最优车辆操纵稳定性运动规划理论，并提出具有创新性的非线性动力学模型轨迹跟踪控制稳定性分析方法。