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

A control method and vehicle technology, applied in the direction of control devices, etc., can solve the problems of reducing control accuracy, failure to guarantee control accuracy and vehicle stability, and vehicle lateral stability control, etc., to achieve the effect of reducing chattering

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 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

Method used

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

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Embodiment Construction

[0040] This invention will take four-wheel independent drive electric vehicle (FWID-EV, Four-Wheel-Independent electric vehicle) as the object, and study the trajectory tracking control strategy of unmanned vehicles. Attached are the requirements for driving stability in working conditions.

[0041] 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 independent drive 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.

[0042] The trajectory tracking strategy designed by...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W50/00
CPCB60W30/02B60W50/00B60W2050/0031B60W2050/0002
Inventor 葛平淑宋鹏赵秀春张江燕张涛
Owner DALIAN NATIONALITIES UNIVERSITY
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