Path tracking and stable controlling method for intelligent automobile in limiting condition

A stable control method and extreme working condition technology, applied in the field of intelligent vehicle control, can solve the problem that the controller cannot meet the requirements of trajectory tracking and stability, etc., to improve the accuracy of path tracking, optimize the front wheel angle, and optimize the vehicle speed Effect

Active Publication Date: 2019-12-20
JIANGSU UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

Traditional controllers cannot meet the requirements of trajector...

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  • Path tracking and stable controlling method for intelligent automobile in limiting condition
  • Path tracking and stable controlling method for intelligent automobile in limiting condition
  • Path tracking and stable controlling method for intelligent automobile in limiting condition

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Experimental program
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Embodiment Construction

[0009] The present invention will be further described below in conjunction with accompanying drawing.

[0010] vertical control

[0011] The longitudinal controller consists of feedforward control and feedback control. Feed-forward control determines acceleration and braking based on acceleration, while feedback control adjusts vehicle speed based on parameters such as slip rate and side slip angle.

[0012] The desired longitudinal acceleration a along the path is calculated by x , U x is the longitudinal vehicle speed, therefore, according to Newton's second law, the feedforward longitudinal force F along the path x,ff It can be calculated that:

[0013]

[0014] f xff = ma x

[0015] Feedback longitudinal control obtains feedback longitudinal input tire slip rate s by controlling the relationship between slip rate and side slip angle:

[0016]

[0017] where V ω =rω is the wheel speed, ω is the rolling angular velocity of the wheel; r is the radius of the wh...

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Abstract

The invention discloses a path tracking and stable controlling method for an intelligent automobile in a limiting condition. The path tracking and stable controlling method comprises longitudinal control, transverse control and stability control. The longitudinal control adopts feedforward control and feedback control, and the feedforward control obtains a feedforward longitudinal force accordingto an acceleration of the automobile; the feedback longitudinal control controls a relationship between a slip rate and a slip angle to obtain a feedback longitudinal force; then a total longitudinalforce is obtained by the feedforward longitudinal force and the feedback longitudinal force, and then a throttle percentage of the automobile and a pressure of a braking main cylinder are obtained bythe total longitudinal force, so that the limiting condition of an adhesive force of a tire is utilized fully; the transverse control adopts self-adaptive model prediction control; and the stability control applies a game control method to game the longitudinal force and trace tracking control and transverse stability control to obtain equilibrium solutions of an additional yawing moment, a frontwheel turning angle and a longitudinal force and optimize a movement velocity and the front wheel turning angle of the automobile in a curve moving process. The path tracking and stable controlling method can enhance the transverse stability of the automobile while improving the trace tracking precision.

Description

technical field [0001] The invention belongs to the field of smart car control, and in particular relates to a control method for a smart car under extreme working conditions. Background technique [0002] With the rapid development of computer information processing technology, unmanned vehicle technology based on efficient environment perception is rapidly improving. One of the important goals is to increase the driving speed of unmanned vehicles so that they have good stability and stability under high-speed conditions. safety. In high-speed driving conditions, many traffic accidents are caused by the driver's inability to control the vehicle under its friction limit. Facing the ultimate goal of unmanned driving, the intelligent vehicle control system is required to be accurate, efficient, and efficient under complex working conditions. Reliable control capability ensures vehicle steering stability and driving safety. Traditional controllers cannot meet the requirements...

Claims

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Application Information

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IPC IPC(8): B60W30/02B60W30/10
CPCB60W30/02B60W30/10B60W2520/105
Inventor 解云鹏蔡英凤陈龙孙晓强李祎承施德华
Owner JIANGSU UNIV
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