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A longitudinal speed trac control method and a device for an expected path vehicle

A technology of longitudinal speed and tracking control, applied in the direction of control device, control drive, vehicle components, etc., can solve the problems of easy instability, reduce control accuracy, and take into account the control of vehicle lateral stability, so as to achieve accurate tracking and guarantee. The effect of following performance and high demand precision

Active Publication Date: 2018-12-18
DALIAN NATIONALITIES UNIVERSITY
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AI Technical Summary

Problems solved by technology

At present, most unmanned vehicle trajectory tracking algorithms simply decouple the longitudinal motion and lateral motion, and assume that the vehicle speed is a certain value, but the vehicle is a highly nonlinear and strongly coupled system. relationship, then the control accuracy and vehicle stability cannot be guaranteed
Especially when the vehicle is driving in high-speed and low-attachment conditions, it is more prone to instability
On the other hand, most of the existing control algorithms involve kinematics control, that is, they do not take the lateral stability and longitudinal motion control of the vehicle into consideration. If the dynamic constraints are not considered, it will increase the Unsafe driving, reducing control accuracy

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  • A longitudinal speed trac control method and a device for an expected path vehicle
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  • A longitudinal speed trac control method and a device for an expected path vehicle

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Embodiment Construction

[0016] The present invention will take four-wheel-independent electric vehicles (FWID-EV, Four-Wheel-Independent electric vehicle) as the object, and study the trajectory tracking control strategy of unmanned vehicles. Requirements for driving stability in low-attachment conditions.

[0017] In order to improve the stability and accuracy of trajectory tracking of vehicles on high-speed and low-lying roads, the present invention provides a trajectory tracking algorithm for four-wheel independently driven unmanned electric vehicles. In view of the fact that the previous research content of unmanned vehicle trajectory tracking algorithm does not consider vehicle stability control and longitudinal vehicle speed control, and is not suitable for four-wheel independent drive electric vehicles. The invention proposes a layered trajectory tracking control strategy for four-wheel independently driven unmanned electric vehicles.

[0018] The trajectory tracking strategy designed by the ...

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Abstract

A longitudinal speed trac control method and a device for an expected path vehicle, belongs to the field of driverless vehicle control, In order to solve the problem of longitudinal speed tracking control of vehicles on expected path, the total drive torque is calculated and distributed to the drive torque of each hub motor by a torque distribution controller, the output torque of the hub motor acts on the wheels, The longitudinal speed control is used to track the desired trajectory, in which the tire utilization rate is used as the optimization function, and the moment distribution algorithmis designed according to the pseudo-inverse method to distribute the total moment. The effect is to ensure that the tire is in the stable range without exceeding the adhesion limit, and the requiredprecision of the distribution is higher, so that the longitudinal speed tracking is more accurate.

Description

technical field [0001] The invention belongs to the field of unmanned vehicle control, in particular to a four-wheel independently driven unmanned electric vehicle track tracking control working method. Background technique [0002] As the current development direction of the automobile industry, electrification and intelligence have become the research hotspots of scholars, research institutes and enterprises at home and abroad. Electric vehicles can not only reduce human consumption of non-renewable resources and improve environmental problems, but also bring NVH quality that traditional fuel vehicles cannot match. The independent drive of four-wheel hub motors is a unique driving form of electric vehicles. Since the power system is directly integrated into the wheels, it can independently and precisely control the driving torque and speed of each wheel. This structure lays the foundation for the realization of advanced control algorithms. Unmanned driving technology is a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20B60L15/38B60W30/10B60W50/00
CPCB60L15/20B60L15/38B60L2240/423B60W30/10B60W50/00B60W2050/0037B60W2710/083Y02T10/72
Inventor 葛平淑张江燕赵秀春张涛宋鹏
Owner DALIAN NATIONALITIES UNIVERSITY
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