Longitudinal speed tracking control method and device for vehicles on expected path

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...

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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