Abstract: Aiming at the path tracking problem of the unmanned vehicle during actual driving, a two-degree-of-freedom vehicle dynamics model was established. The path-tracking controller based on the quasi-sliding mode control strategy was designed, and its control strategy was verified by hardware-in-the-loop. The serpentine road was used as the desired tracking path of the quasi-sliding mode controller. The controller calculated the desired steering wheel angle according to the road information and vehicle state feedback in real time and input it to the vehicle model. Vehicle lateral velocity, yaw angular velocity, lateral displacement and yaw angle were the output of vehicle state response. The hardware-in-the-loop verification was carried out by using dSPACE. Simulation and experiment results show that the quasi-sliding mode path tracking control has better lateral stability when tracking the desired path.

Key words: vehicle engineering, path following, two degree of freedom vehicle model, quasi-sliding mode control, hardware-in-loop

摘要： 针对无人驾驶车辆在实际行驶过程中的路径跟踪问题，建立二自由度车辆动力学模型，基于准滑模控制策略设计路径跟踪控制器，并将该控制策略进行硬件在环验证。将蛇形线道路作为准滑模控制器的期望跟踪路径，控制器实时根据道路信息和车辆状态反馈计算得到期望方向盘转角并输入给车辆模型，把车辆横向速度、横摆角速度、侧向位移和横摆角作为车辆状态响应输出。利用dSPACE对其进行硬件在环验证，仿真和实验结果表明准滑模路径跟踪控制在追踪期望路径时具有较好的横向稳定性。

关键词: 车辆工程, 路径跟踪, 二自由度车辆模型, 准滑模控制, 硬件在环