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Unmanned electric vehicle trajectory tracking and transverse stability comprehensive control method

A technology for lateral stability and electric vehicles, which is applied in the field of automotive intelligent safety and automatic driving. It can solve problems such as single trajectory tracking control, single lateral stability control, and the impact of unmanned electric vehicle motion control performance, so as to improve quality, Overcoming the effects of tire cornering stiffness uncertainty

Active Publication Date: 2020-04-07
XIAMEN UNIV
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AI Technical Summary

Problems solved by technology

[0004] A large number of studies on the lateral motion control of unmanned electric vehicles are focused on a single trajectory tracking control or a single lateral stability control, and the research on trajectory tracking control and lateral stability integrated control of unmanned electric vehicles is quite limited
In addition, there is uncertainty in the cornering stiffness of the front and rear tires in the dynamic model of unmanned electric vehicles, and its preview distance and driving speed have time-varying characteristics. If the uncertainty and time-varying characteristics are not considered in the control design process parameters, the motion control performance of unmanned electric vehicles will be affected

Method used

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  • Unmanned electric vehicle trajectory tracking and transverse stability comprehensive control method
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  • Unmanned electric vehicle trajectory tracking and transverse stability comprehensive control method

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Embodiment Construction

[0036] The following embodiments will further illustrate the present invention in conjunction with the accompanying drawings.

[0037] like figure 1 As shown, the unmanned electric vehicle trajectory tracking and lateral stability comprehensive control system described in the present invention includes an on-board sensor module 1, a Takagi–Sugeno fuzzy lateral control model characterization module 2, a robust H ∞ Output feedback upper-level dynamic controller module 3 and sequence quadratic programming (SQP) lower-level control distribution module 4, etc.;

[0038] The input terminal of the vehicle-mounted sensor module 1 is connected to the unmanned electric vehicle 5, the vehicle-mounted sensor module 1 includes a GPS module 11 and a CCD vision module 12, the GPS module 11 is used to collect the driving state information of the unmanned electric vehicle, and the CCD vision module 12 It is used to detect the position information of the vehicle relative to the expected trajec...

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Abstract

The invention discloses an unmanned electric vehicle trajectory tracking and transverse stability comprehensive control method, and relates to the field of vehicle intelligent safety and automatic driving. A vehicle-mounted sensor is used for collecting the driving state information of a driverless electric vehicle and the position information of the vehicle relative to an expected track. An unmanned electric vehicle Takagi-Sugeno fuzzy control model for characterizing parameter uncertainty and time-varying characteristics is established. A Takagi-Sugeno fuzzy-based unmanned electric vehicle trajectory tracking and transverse stability robust H-infinity comprehensive control method is designed; the track tracking and transverse stability integrated control of the driverless electric vehicle is realized, the influence of uncertain tire cornering stiffness, preview distance and longitudinal speed time varying of the driverless electric vehicle on the system is effectively overcome, and the quality of the driverless electric vehicle motion control system is remarkably improved.

Description

technical field [0001] The invention relates to the field of automobile intelligent safety and automatic driving, in particular to a Takagi–Sugeno fuzzy-based method for track tracking and lateral stability comprehensive control of unmanned electric vehicles. Background technique [0002] Unmanned electric vehicles use sensing and learning algorithms to perceive and analyze the surrounding environment of the vehicle, so as to make decisions and execute control on the vehicle. It is mainly composed of environmental perception system, decision-making system and motion control system. In addition, since each individual wheel of an unmanned electric vehicle is driven by an electric motor, it has control flexibility and excellent maneuverability. [0003] Trajectory tracking control and lateral stability control of unmanned electric vehicles mainly study how to design control strategies to ensure that unmanned electric vehicles can track the specified planned path accurately, in ...

Claims

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Application Information

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IPC IPC(8): B60W30/02B60W50/00
CPCB60W30/02B60W50/0098B60W2520/10B60W2520/12
Inventor 郭景华王靖瑶郑华青
Owner XIAMEN UNIV
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