Coordination control method for vehicle path tracking and stability

Abstract

The invention provides a coordination control method for vehicle path tracking and stability. The method includes the following steps: step S1. performing vehicle modeling; step S2. performing estimation on a vehicle state and system interference based on Kalman filtering; and step S3. performing integrated control on the vehicle path tracking and stability. The method establishes a vehicle dynamics model and a path tracking model, and designs an estimation method of the vehicle state and steering system interference. An upper-layer controller is designed by using a sliding mode control method, which aims to ensure the stability of a vehicle itself while reducing course deviation and lateral deviation during a path tracking process. In a lower-layer controller, a method for optimal distribution of a wheel tire force is designed, and according to requirements of the upper-layer controller and combining yaw and roll stability conditions of the vehicle, directional control distribution ofthe wheel tire force is achieved. The coordination control method can ensure that a wheel independently drives the smart automobile to achieve a path tracking effect, and also ensures lateral and roll stability of the smart automobile itself.

Description

technical field [0001] The invention belongs to the field of intelligent automobile research, and in particular relates to a vehicle path tracking and stability coordination control method. Background technique [0002] In recent decades, the technology of the automobile industry has developed rapidly, the scale of production has continued to expand, the number of automobiles has increased, and the application of vehicles in people's lives has become more and more extensive. With the increase of car share, the corresponding road safety issues cannot be ignored more and more. People's growing demand for car intelligence has also prompted practitioners to invest more time and energy in research on smart car-related technologies. Smart cars have better road utilization and higher safety, and its related research is one of the research hotspots in recent years. Path following control is a relatively common driving scheme in the intelligent driving process of vehicles. In intel...

AI Technical Summary

Problems solved by technology

During the actual driving process, the interference factors in the steering system of the vehicle will have a greater impact on the control effect, which is very likely to cause serious deviations in path tracking and the reduction of the stability of the vehicle itself, and even lead to road safety problems. Therefore, this This factor needs to be considered when designing the path following control method

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