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A path tracking and stability control method for intelligent vehicles under extreme conditions

A stable control method and a technology of extreme working conditions, applied in the field of intelligent vehicle control, can solve the problem that the controller cannot meet the requirements of trajectory tracking and stability, and achieve the improvement of path tracking accuracy, optimization of front wheel angle, and optimization of vehicle speed. Effect

Active Publication Date: 2021-07-20
JIANGSU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional controllers cannot meet the requirements of trajectory tracking and stability of smart cars under extreme working conditions

Method used

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  • A path tracking and stability control method for intelligent vehicles under extreme conditions
  • A path tracking and stability control method for intelligent vehicles under extreme conditions
  • A path tracking and stability control method for intelligent vehicles under extreme conditions

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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 whe...

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Abstract

The invention discloses a path tracking and stability control method under extreme working conditions of an intelligent automobile, which includes longitudinal control, lateral control and stability control. The longitudinal control adopts feedforward control and feedback control. The feedforward control obtains the feedforward longitudinal force according to the vehicle acceleration; the feedback longitudinal control obtains the feedback longitudinal force by controlling the relationship between the slip rate and the slip angle; then the feedforward longitudinal force and Feedback the longitudinal force to obtain the total longitudinal force, and then obtain the vehicle throttle opening and brake master cylinder pressure from the total longitudinal force, so as to achieve the limit working condition of making full use of tire adhesion; lateral control adopts adaptive model predictive control; stable The game control method is used to game the longitudinal force with the trajectory tracking control and lateral stability control to obtain the balance solution of the additional yaw moment, front wheel angle and longitudinal force, and optimize the vehicle speed and front wheel angle during the curve movement. The invention can improve the trajectory tracking accuracy and at the same time improve the lateral stability of the vehicle.

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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Patent Type & Authority Patents(China)
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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