Integrated lateral and roll control method for autonomous driving distributed drive electric vehicles

A technology for autonomous driving and electric vehicles, which is applied in the field of automotive intelligent safety and automatic driving. It can solve the problems that actuators cannot provide torque and destroy the lateral motion control of distributed drive electric vehicles in automatic driving, so as to improve the performance of autonomous driving and overcome the impact Effect

Active Publication Date: 2020-11-10
XIAMEN UNIV
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

Furthermore, when an actuator fails, the faulty actuator may not be able to deliver the required torque, thereby undermining the lateral motion control of autonomous distributed drive EVs

Method used

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  • Integrated lateral and roll control method for autonomous driving distributed drive electric vehicles
  • Integrated lateral and roll control method for autonomous driving distributed drive electric vehicles
  • Integrated lateral and roll control method for autonomous driving distributed drive electric vehicles

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Embodiment Construction

[0035] The following embodiments will further illustrate the present invention in conjunction with the accompanying drawings.

[0036] The lateral and roll comprehensive control system described in the embodiment of the present invention includes a vehicle-mounted sensor module, an A / D and a D / A converter module, a lateral and lateral comprehensive robust H ∞ Controller, genetic optimization optimal allocation module, Takagi-Sugeno fuzzy observer, etc. The vehicle-mounted sensor module mainly includes a GPS module and a CCD module. The GPS system obtains the longitudinal velocity, lateral velocity and yaw rate of the vehicle in real time, and the vehicle-mounted CCD system obtains the distance between the tangent direction of the reference path at the preview point and the vehicle forward direction in real time. The azimuth deviation information of the vehicle at the preview point and the lateral distance deviation information from the reference path; such as figure 1 As show...

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Abstract

The invention discloses a transverse and roll comprehensive control method for an automatic driving distributed driving electric automobile, and belongs to the technical field of automobile intelligent safety and automatic driving. Travelling state information and reference path information of the automatic driving distributed driving electric automobile are collected through a vehicle-mounted sensing system, a roll effect and an actuator fault are considered, a Takagi-Sugeno fuzzy transverse control model with parameter uncertainty and time-varying characteristics is established, the robust transverse and roll angle comprehensive control method for the automatic driving distributed driving electric vehicle is designed, and meanwhile, an observer based on the Takagi-Sugeno model is provided for the unmeasurability of the roll angle and the roll angle speed in the driving process of the automatic driving distributed driving electric automobile. The influence of the roll effect and the actuator fault on transverse motion control of the automatic driving distributed driving electric automobile is overcome, and the autonomous driving performance of the automatic driving distributed driving electric vehicle is improved.

Description

technical field [0001] The invention belongs to the technical field of automobile intelligent safety and automatic driving, and in particular relates to a method for comprehensively controlling the lateral direction and roll of an automatic driving distributed drive electric vehicle. Background technique [0002] Each wheel of the self-driving distributed drive electric vehicle is independently driven by the electric motor, which has excellent maneuverability and control flexibility, which can minimize the occurrence of road accidents, improve traffic safety and reduce traffic congestion. [0003] Lateral control is one of the core technologies of autonomous driving distributed drive electric vehicles. It aims at how to design control laws to make autonomous driving distributed drive electric vehicles follow a pre-planned reference path accurately and smoothly. Designing a lateral control system for autonomous distributed drive electric vehicles is considered to be one of th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W10/08B60W30/18B60W40/00B60W40/10
CPCB60W10/08B60W30/18B60W40/00B60W40/10
Inventor 郭景华王靖瑶郑华青王班李文昌肖宝平
Owner XIAMEN UNIV
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