Intelligent electric vehicle path tracking model prediction control method

Abstract

The invention relates to an intelligent electric vehicle path tracking model prediction control method, belonging to the technical field of control. The aim of the invention is to adopt the intelligent electric vehicle path tracking model prediction control method, wherein the model prediction control method can take account of the safety constraints of a whole vehicle simultaneously and realizeseclectic optimization among vehicle path tracking performance, safety and whole vehicle performance effectively. The method gives thought to intelligent electric vehicle path tracking model building in limited conditions and yaw stabilization controller design based on model prediction control as well as the tracking performance of the vehicle, the safety of the vehicle, the whole vehicle performance, driving comfort and saving and control of energy in the process of carrying out control strategy deduction, and improves the dynamic performance of the whole vehicle. The method gives thought tothe tracking performance of the vehicle (path following and speed following), the safety of the vehicle (preventing slipping, locking, sideward inclining or drifting), the whole vehicle performance (accelerating and braking performance), driving comfort (the change of torque cannot be too great) and saving and control of energy (saving energy on the premise of meeting the performance). The dynamicperformance of the whole vehicle is improved.

Description

technical field

[0001] The invention belongs to the technical field of control. Background technique

[0002] In recent years, with the increasing environmental pollution and energy crisis, energy conservation and emission reduction has become an important goal in China and even in the world. Due to its advantages such as high energy efficiency, low emission, low noise, and energy recovery, electric vehicles have become a major direction for the development of the automotive industry today. The country has also issued a large number of preferential policies to support companies in researching electric vehicles.

[0003] Electric vehicles driven by in-wheel motors have been a research hotspot in recent years, because the in-wheel motors are directly mounted on the wheels, which saves space and can reduce the weight of the car. The driving force of each driving wheel of the four-wheel hub-driven electric vehicle can be directly and independently precisely controlled, making t...

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