Total drive torque output method for unmanned vehicle

Abstract

A method for total drive torque output of an unmanned vehicle, belongs to the field of driverless vehicle control, In order to solve the problem of the accuracy of the total drive torque output of theunmanned vehicle, the main point is to take the error between the ideal longitudinal speed and the actual longitudinal speed and the error rate of change as the input of the controller, The controller outputs the electronic throttle opening and searches for the hub motor torque map corresponding to the electronic throttle opening prepared in advance to output the total driving torque of the vehicle. The effect is to ensure the following performance of the longitudinal speed of the vehicle and provide the accurate total torque for each wheel to distribute torque.

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 trajectory 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. Independent driving of four-wheel hub motors is a unique driving form of electric vehicles. Since the power system is directly integrated in the wheels, it can independently and accurately 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...

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 running 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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