Horizontal and vertical coordination control method for trajectory tracking of intelligent vehicle

Abstract

The invention relates to a horizontal and vertical coordination control method for trajectory tracking of an intelligent vehicle. For association and coupling characteristics of horizontal and vertical dynamics of the intelligent vehicle, a horizontal and vertical coordination controller for trajectory tracking of the intelligent vehicle is designed. By applying a model prediction control and sliding mode control algorithm, the opening degree of a throttle valve of an engine, the pressure of a main braking cylinder and the deflection angle of a front wheel are cooperatively controlled. In thedesign of a horizontal MPC, the state amount of the vehicle is selected at the formula which is shown in the description, and the state amount (vertical speed vx) is real-time changable vehicle speedoutput by the vehicle after vertical control; vy is a horizontal speed at the mass center of the vehicle; the formulas which are shown in the description are the heading angle and heading angle speedat the mass center of the vehicle; Y and X are a horizontal position and a vertical position under world coordinates. According to a horizontal and vertical coordination control system, the intelligent vehicle efficiently and stably tracks an expectation trajectory at the expected speed. Large-steering operation can be remarkably improved, and the horizontal stability of the intelligent vehicle inthe trajectory tracking process is improved.

Description

technical field [0001] The invention belongs to an intelligent vehicle trajectory following control method, in particular to a horizontal and vertical coordinated control method for intelligent vehicle trajectory following. Background technique [0002] The motion control of intelligent vehicles includes lateral control and longitudinal control, which is the key to realize autonomous driving of intelligent vehicles. The lateral control mainly studies the trajectory tracking ability of the intelligent vehicle, and ensures the driving safety, stability and ride comfort of the vehicle; the longitudinal control mainly studies the speed tracking ability of the intelligent vehicle, and realizes accurate and fast tracking of the desired speed. [0003] At present, scholars from various countries have conducted a lot of research on the trajectory following control of intelligent vehicles. literature[ 1 ] Aiming at the active steering problem of the front wheels of intelligent vehi...

AI Technical Summary

Problems solved by technology

[0004] Considering the handling stability of the vehicle when turning, in extreme lateral movement, the greater the lateral force required, the greater the side slip angle, the tire force is far away from the linear region, and the vehicle will not be able to maintain stability

Images