A method for control that yaw of a vehicle on a desired path

Abstract

A method for control that yaw of a vehicle on an expected path belongs to the control field of an unmanned vehicle. In order to solve the problem of the yaw control of the vehicle on the expected path, the main points are as follows: S2. The equivalent sliding film pendulum torque controller is established based on the vehicle dynamics model. The effect is that the pendulum torque controller is established based on the quasi-sliding film control, and the hyperbolic tangent function is used to replace the sign function, which effectively reduces the chattering phenomenon of the quasi-sliding film control.

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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