中文摘要：

高速避让技术能够提高汽车行驶的主动安全性,是汽车智能化发展亟待解决的关键问题。针对高速避让路径跟踪控制系统中存在的外界侧向风干扰,通过控制车辆实际行驶轨迹曲率跟踪理想目标路径曲率,设计二阶自抗扰控制器。外界侧向风干扰可以通过扩张状态观测器进行观测和补偿。为了解决避让过程存在侧向加速度过大或产生阶跃、曲率不连续问题,利用三次B样条曲线对避让路径进行曲率拟合,采用Carsim与Simulink联合仿真方法进行控制器性能验证。仿真结果表明,在存在外界侧向风干扰下,所设计的路径跟踪控制器具有良好的控制效果,对外界干扰具有鲁棒性。

英文摘要：

High speed collision avoidance technology can improve the vehicle active safety and it is a key problem which should to be solved for automobile intelligent technology. In order to control the actual vehicle driving along the ideal predefined path curvature, the second order active disturbance rejection path travking controller is designed. The external disturbances such as lateral wind can be estimated and compensated by the extended state observer. Traditional evasive collision avoidance process suffers serious problems such as high lateral acceleration and discontinuous curvature,the cubic B spline is used to solve curvature discontinuity. The sofiwares Carsim and Simulink are combined to verify the performance of the proposed path tracking controller. The simulation results show that the proposed controller exhibits high effectiveness and good robustness to external disturbances.