Path-following model predictive control method for smart electric vehicles

Abstract

A path tracking model predictive control method for an intelligent electric vehicle belongs to the technical field of control. The object of the present invention is to use the model predictive control method to consider the safety constraints of the whole vehicle at the same time, and effectively realize the compromise optimization between the vehicle path tracking performance, safety and vehicle performance. The intelligent electric vehicle path tracking model predictive control method. The invention considers the construction of the path tracking model of the intelligent electric vehicle under extreme working conditions, the design of the yaw stability controller based on the model predictive control, and considers the tracking performance of the vehicle, vehicle safety, vehicle performance, Driving comfort, saving and controlling energy, and improving vehicle dynamics performance. The present invention considers the tracking performance of the vehicle (path following, speed following), vehicle safety (preventing slipping or locking, roll or tail flicking), vehicle performance (acceleration and braking performance), driving comfort (moment change not too large), saving and controlling energy (saving energy under the premise of satisfying performance). Improve vehicle dynamic performance.

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...

AI Technical Summary

Problems solved by technology

[0006] 2. Most of the existing path-following controls are for lateral stability control or constant-speed cruise control, and there are few control systems that consider integrated control of path-following and speed-following

[0007] 3. At the same time, under extreme working conditions, the influence of vertical force changes on the vehicle cannot be ignored. Previous studies did not consider the influence of vertical force, so the vehicle under extreme working conditions cannot be well controlled, and it is very easy to occur ACCIDENT

This is actually a multi-objective complex optimization control problem with constraints

Ordinary traditional algorithms have been difficult to meet the requirements

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