A path-following control method for a full-wire control electric vehicle

A technology for electric vehicles and path tracking, which is applied in the direction of electric vehicles, control drives, control devices, etc., can solve the problem that the fixed prediction domain model predictive control method cannot be self-adaptive to meet the needs of vehicle tracking accuracy and stability, etc.

Inactive Publication Date: 2020-01-17
JILIN UNIV
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Problems solved by technology

[0004] The present invention designs and develops a path tracking control method for a full-by-wire electric vehicle. The purpose of the present invention is to solve the problem that the fixed prediction domain model predictive control method in the existing full-wire control electric vehicle path tracking control method cannot be self-adaptive to meet different driving conditions. The problem of the demand for vehicle tracking accuracy and stability in the environment

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  • A path-following control method for a full-wire control electric vehicle
  • A path-following control method for a full-wire control electric vehicle
  • A path-following control method for a full-wire control electric vehicle

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[0089] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0090] Such as figure 1 As shown, the present invention provides a full-wire control electric vehicle path tracking control method, which specifically includes the following steps:

[0091] Step 1. The expected value of the tracking reference path is given, including the expected yaw angle ψ, the expected lateral displacement Y, and the expected vehicle speed V xd ;

[0092] Step 2. Establishing a vehicle state prediction model and a dynamics model of a full-wire control electric vehicle;

[0093] Step 3. Calculate the dynamic stability index value Q at the current moment according to the current vehicle state stbd (k), combined with the influence of the prediction domain length on vehicle tracking accuracy and vehicle dynamics stability, online adjustment of the current m...

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Abstract

The invention discloses a full-line control electric vehicle path tracking control method, which comprises the following steps: a tracking path expectation value is given to a path tracking module; Vehicle condition model and dynamic model of all-wire electric vehicle are established.- the length of prediction domain is adjusted according to the value of dynamic stability index; -the output of thesystem in the future prediction domain is predicted and -the optimization problem based on exponential objective function is solved by rolling to obtain the expected vehicle body motion for path tracking; Through the desired motion module, the tire force distribution module and the execution module -the path tracking of the desired vehicle body motion is realized. As that length of the predictiondomain in the online mediation path tracking module is taken into account, the requirements of path tracking accuracy and stability under different working conditions are taken into account, and thetravel safety of the whole line control electric vehicle is improved, and the robustness and the real-time property of the path tracking control are improved.

Description

technical field [0001] The invention relates to the field of electric vehicle control, in particular to a path tracking control method for a fully wire-controlled electric vehicle. Background technique [0002] Due to the improvement of driving safety, flexibility and convenience, autonomous driving has received extensive attention. Full-by-wire electric vehicles have four-wheel independent drive\braking\steering structure, and because of their flexible dynamic characteristics, they have become an ideal carrier for realizing autonomous driving technology. Path tracking control is an important technology to realize autonomous driving in the full-by-wire electric vehicle automatic driving technology. Its main purpose is to control the full-by-wire electric vehicle to track a given reference path while ensuring the vehicle stability of the full-by-wire electric vehicle. [0003] No matter in the path-following control of full-wire control electric vehicles or traditional vehic...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60L15/00B60L15/20B60L15/32
CPCB60L15/00B60L15/20B60L15/2009B60L15/32B60L2220/42B60L2220/44B60L2240/24B60L2240/423Y02T10/72
Inventor 张冰宗长富陈国迎
Owner JILIN UNIV
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