A desired path active steering control method for a four-wheel independent drive vehicle

Abstract

A desired path active steering control method for a four-wheel independent drive vehicle, belongs to control field of unmanned vehicle. In order to solve the problem of active steering control by looking at the path, the main points are as follows: S1. A two-degree-of-freedom vehicle lateral dynamics model describes the lateral motion and pendulum motion of the vehicle, and discretizes the dynamics model to form a state space equation; 2, a prediction model is established by that state space equation, a rolling time domain optimization algorithm is implemented to plan the front wheel rotationangle, the control input vector is solved at the current time to obtain the front wheel rotation angle, and the expect trajectory is tracked by the vehicle active steering control, thereby improvingthe precision of the model and the safety of the vehicle driving.

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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