摘要：AbstractWith the increasing demand for intelligent commercial vehicles, the path tracking technology of commercial vehicle autonomous driving systems has become a research hotspot. However, commercial vehicles are prone to roll over when they are making an emergency obstacle avoidance or making a sharp turn on the road surface with high adhesion coefficient, resulting in serious traffic accidents. In this paper, a steering control method based on the T-S fuzzy model for automatic driving of commercial vehicles is proposed, which takes path tracking and anti-roll as control objectives. Firstly, the three-degree-of-freedom model of commercial vehicle and the vehicle-road dynamic model was established to obtain the vehicle-road general model. Then, considering the influence of the nonlinear change of vehicle speed on the system performance, the speed is taken as the variable parameter of the system. Taking the speed as the prerequisite variable, the fuzzy rule is designed, and the vehicle-road model is transformed into a T-S fuzzy model. Then, the fuzzy controller is designed according to the Lyapunov method and the parallel distributed compensation (PDC) algorithm. Finally, sufficient conditions for the system to satisfy theH∞ performance index under the action of the fuzzy controller are given in the form of linear matrix inequality (LMI). LMI toolbox is used to solve the problem, and the robustness of the system is guaranteed. Simulation results show that the system can ensure the accuracy of path tracking and greatly reduce the risk of vehicle rollover.
