基于改进预瞄跟随算法的电动车智能转向控制

提出一种基于改进的预瞄跟随驾驶员模型的电动汽车智能转向控制策略。借鉴驾驶员预瞄跟随模型提出转向控制方法，并对预瞄跟随算法进行改进，提出一种新的预瞄点搜索算法，确保预瞄点落在预期路径上，避免由于路径转弯曲率过大导致电动汽车脱离路径。结合考虑稳态响应的影响，提高转向控制策略精度。利用多领域建模软件Dymola,结合电动汽车动力模型、路径模型，对该转向控制策略进行仿真。仿真结果表明应用该策略的电动汽车具有良好的路径目标跟随精度。

Intelligent Steering Control Strategy of EV Based on Improved Preview Following Algorithm

An intelligent steering control strategy of EV was described based on an improved preview following algorithm driver model. A new previewpoint searching algorithm was proposed to ensure that the previewpoint fell on the expected track and availed on the large curvature road. The steering control strategies considered the impact of the steadystate response to improve the dynamics performance of the EV. Combined with power model and track model of EV, the steering control strategy was stimulated by Dymola that is a multidomain modeling and simulating software. The results indicate that the EV with application of the strategy performs a high level of accuracy on the target tracking following.