Abstract: In order to ensure the effectiveness of trajectory tracking control for autonomous semi-trailer vehicles, a control method considering steering system backlash compensation is proposed. A trajectory tracking model based on a three degree of freedom vehicle dynamics model is established, and an linear quadratic regulator (LQR) based trajectory tracking controller is designed on this basis. A steering system backlash model considering the differences between the left and right sides is established, and a backlash model parameter identification method based on recursive least square method is designed. A steering backlash inverse model is established using the identified parameters to compensate for the output of the trajectory tracking controller. The parameter identification method of the backlash model is validated using real vehicle data and simulation data, and the backlash compensation control is validated based on the TruckSim-Simulink joint simulation platform. The results show that the designed identification method can quickly identify the steering transmission ratio and backlash on both sides of the steering system model, and the accuracy and stability of trajectory tracking control considering backlash compensation are significantly improved.

Key words: Semi-trailer vehicles; Trajectory tracking; Steering system; Backlash model; Parameter identification; Compensation control; TruckSim-Simulink

摘要： 为了保障自动驾驶半挂车辆轨迹跟踪控制的有效性，提出一种考虑转向系统齿隙补偿 的控制方法。建立基于三自由度车辆动力学模型的轨迹跟踪模型，在此基础上设计基于线性 二次型调节器（LQR）的轨迹跟踪控制器。建立考虑左右两侧差异的转向系统齿隙模型，并 设计基于递推最小二乘法的齿隙模型参数辨识方法。利用辨识得到的参数建立转向齿隙逆模 型，补偿轨迹跟踪控制器的输出。采用实车数据和仿真数据分别验证了齿隙模型参数辨识方 法，基于 TruckSim-Simulink 联合仿真平台验证了齿隙补偿控制。结果表明，所设计的辨识方 法可以快速识别出转向系统模型左右两侧的转向传动比和齿隙，考虑齿隙补偿的轨迹跟踪控 制精度和稳定性明显提升。

关键词: 半挂车辆；轨迹跟踪；转向系统；齿隙模型；参数辨识；补偿控制；TruckSim-Simulink