A four-wheel independent drive unmanned electric vehicle trajectory tracking control method

Abstract

The invention discloses a four-wheel independently-driving unmanned electric vehicle trace tracking control method. The method comprises the following steps that an upper controller is established torealize active steering control; a middle controller is established to realize vehicle yaw stability control; a lower controller is established to control an actual vehicle speed to stably track a desired vehicle speed. The four-wheel independently-driving unmanned electric vehicle trace tracking control method has the advantages that the transverse stability of the vehicle is considered, a desired trace is tracked through the upper controller, the middle controller tracks a desired yaw angle speed according to a front-wheel angle planned by the upper controller, and the stability of the vehicle during the trace tracking is achieved; the vehicle dynamic constrain and the upper controller can improve the model accuracy and vehicle driving safety; the upper controller improves the accuracy of the trace tracking through the consideration of the state changes of the vehicle and reference trace at future moments; the algorithm is simple and effective, the solution time is short, and the real-time performance is good.

Description

technical field [0001] The invention relates to the field of unmanned vehicle control, in particular to a four-wheel independently driven unmanned electric vehicle trajectory tracking control working method. Background technique [0002] With the development of computer, information, cognition, machinery, chemistry and other disciplines, it is recognized that the automation and electrification of vehicle driving to solve traffic safety and energy problems will be one of the most effective methods at present. Unmanned vehicle is a typical four-wheeled mobile robot. It is an advanced stage of the development of intelligent vehicles. It involves many interdisciplinary knowledge. A sensor to perceive the surrounding environment of the vehicle, and according to the road, vehicle position and obstacle information obtained by the perception, plan a safe and collision-free path, control the speed and steering of the vehicle, so that the vehicle can be safely and reliably on the road...

AI Technical Summary

Problems solved by technology

At present, most of the trajectory tracking control algorithms are aimed at traditional vehicles. The control purpose is to reduce the error between the actual trajectory and the expected trajectory of the vehicle, and the limitation of the existing trajectory tracking control algorithms is that the speed control and yaw control of the vehicle are rarely considered in the trajectory tracking control. Algorithm, resulting in low trajectory tracking accuracy, easy to cause the vehicle to slip and lose stability on high-speed and low-attached roads

Images