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1、哈尔滨工业大学工学硕士学位论文AbstractIntelligentvehicle(IV),i.e.theintellectualizationofvehicles,isthemaindirectionofdevelopmentofvehicletechnologies.IVtechnologyisthecombinedresultofvehicletechnology,controltheory,informationtechnologyandartificialintelligence.IVte
2、chnologywillgreatlypromotethesafetyandautomationofvehiclesandimprovethehandlemethod.ThedevelopmentofIVdoesnotonlyimpactthevehicleengineeringdiscipline.Italsoposesgreatchallengesforthecontroldiscipline.Nowadays,IVtechnologyhasattractedresearchersfromvar
3、iousfieldsanddisciplines.Environmentrecognition,pathplanninganddrivingcontrolarethreemainaspectsofIVtechnology.Oneimportantissueindrivingcontrolisthehigh-precisioncontroloflongitudinalandlateralmotion,whichplaysanimportantroleinautonomousdriving,vehicl
4、eplatoonscontrolandtrajectorytracking.Thispaperstudiestwomaneuvers:thelongitudinalvelocityandyawratetrackingcontrolinlongitudinalandlateralmotionandthetrajectorytrackingcontrolinsteeringmaneuver.Wehopethisresearchcanbeoneofthefeasiblemethodsforspeedsta
5、bilizationandyawstabilitycontrolforvehiclessteeringwithhighspeedandthetrajectorytrackingcontrolforlanechangeandobstacleavoidance.Firstofall,thispaperanalyzesthethemodelingissueinlongitudinalandlateralcouplingcontrolandpresenta4-DoFdynamicsmodelwhichill
6、ustratesthelongitudinalmotion,lateralmotion,yawmotionandrollmotionofthevehicle.Sincetheorderofthemodelistoohigh,itisdifficulttodesignacontroller.So,wedeterminefactorswhichhavemaineffectsonlpongitudinalandlateralcouplingcontrolthroughsimulation.Accordin
7、gtothesimulationresults,therollmotionisneglected,anda3-DoFmodelispromoted.Furthermore,twosimlified3-DoFmodelsarepesentedfortheeaseofcontrollerdesign.ThesemodelsarecomparedwiththeinitialoneunderdifferentmaneuvesviaMATLAB/Simulinksoastodeterminethemodelu
8、sedforthecontrollerdesign.Afterthat,timevaryingparametersareselectedandthemodelisconvertedintoapolytopicquasiLPV(LinearParameterVarible)model.Forthelongitudinalvelocityandyawratetrackingcontrolproblem,thesteeringanglein3-DoFdynamicmodel
