Path tracking control method suitable for high-speed limiting working condition

Abstract

A path tracking control method suitable for a high-speed limiting working condition is characterized in that the method comprises an expected path calculation module, a tire model linearization module, an MPC controller and a CarSim automobile model; the expected path calculation module is used for calculating an expected lateral displacement and a yaw angle of the automobile; the tire model linearization module is used for realizing linear approximation of nonlinear tire force in a prediction time domain; the CarSim automobile model is used for outputting the actual state quantity of the automobile, wherein the actual state quantity comprises a longitudinal speed, a lateral speed, a yaw velocity, the yaw angle and the lateral displacement of the automobile; and the MPC controller is usedfor solving a front wheel turning angle of the automobile according to the expected lateral displacement, the expected yaw angle and the actual state quantity of the automobile, inputting the front wheel turning angle to the CarSim automobile model, and controlling the automobile to realize path tracking control.

Description

[0001] Technical field: [0002] The invention relates to the field of vehicle path tracking control, and relates to a path tracking control method suitable for high-speed extreme working conditions. [0003] Background technique: [0004] With the increasing traffic congestion and road safety issues, self-driving cars have become the development trend of the automotive industry. Due to the complexity of the actual road environment and the strong nonlinearity of the car itself, the tracking control of autonomous vehicles faces great challenges. [0005] Scholars at home and abroad have made a lot of research results in the tracking control algorithm of automatic driving vehicles. The traditional control methods mainly include robust control, preview control and sliding mode control. But the above methods usually can only utilize the current environment information and the state of the car, and it is difficult to consider the constraints of the environment and the car. Therefo...

AI Technical Summary

Problems solved by technology

[0008] In order to solve the problem of path tracking failure caused by the inaccurate expression of tire force in the traditional path tracking control method when the automatic driving vehicle avoids collisions under high-speed limit conditions, the present invention provides a path tracking control method suitable for high-speed limit conditions

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