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Automobile path tracking control method based on corner optimization sequence

A technology for optimizing sequences and path tracking, which is applied to control devices and other directions, and can solve problems such as path tracking failures

Pending Publication Date: 2020-11-20
CHANGCHUN UNIV OF TECH
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] 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 for emergency collision avoidance of autonomous vehicles under extreme working conditions, the present invention provides a path tracking control method based on a corner optimization sequence

Method used

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  • Automobile path tracking control method based on corner optimization sequence
  • Automobile path tracking control method based on corner optimization sequence
  • Automobile path tracking control method based on corner optimization sequence

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Embodiment Construction

[0100] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0101] figure 1It is a system structural diagram of a path tracking control method based on an optimized corner sequence in the present invention, the system mainly includes an MPC controller 1, a tire slip angle estimation model block 2, a CarSim vehicle model 3 and a tire model linearization module 4; The side slip angle estimation model fast 2 is used to estimate the tire side slip angle sequence in the prediction time domain; the tire model linearization module 4 is used to realize the linear approximation of the nonlinear tire force in the prediction time domain; the CarSim car model 4 is used to output the actual State quantities, including vehicle longitudinal velocity, lateral velocity, yaw rate, yaw angle, and lateral displacement; MPC controller 1 solves the vehicle’s state quantity according to the desired lateral displacement, center-of-ma...

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Abstract

The invention discloses an automobile path tracking control method based on a corner optimization sequence. The method is characterized in that the method employs an MPC path tracking controller, a tire slip angle estimation module, a CarSim automobile model, and a tire model linearization module. The tire slip angle estimation module is used for estimating a tire slip angle sequence in a prediction time domain, the tire model linearization module is used for carrying out linear processing on nonlinear tire force in the prediction time domain, and the MPC path tracking controller optimizes andsolves a front wheel turning angle sequence of an automobile and inputs the front wheel turning angle sequence to the CarSim automobile model to realize path tracking control.

Description

Technical field: [0001] The invention relates to the field of vehicle path tracking control, and relates to a vehicle path tracking control method based on a corner optimization sequence. Background technique: [0002] 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 and diversity of the actual road environment, and the strong nonlinearity of the car itself, the tracking control of autonomous vehicles faces great challenges. [0003] 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. Therefore,...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W30/09B60W30/10B60W50/00
CPCB60W60/001B60W30/09B60W30/10B60W50/00B60W2050/0031B60W2050/0037Y02T10/40
Inventor 李绍松王书君张袅娜崔高健张邦成徐海天王枫
Owner CHANGCHUN UNIV OF TECH
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