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Segmented control method for intelligent electric vehicle drifting into storage with supervision mechanism

A smart electric vehicle, segmented control technology, applied in the field of intelligent electric vehicle control, to achieve the effect of easy control, simple operation, completeness and safety

Active Publication Date: 2022-04-05
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The state of the vehicle during this kind of drift is very close to the state of vehicle instability caused by the rear axle slipping and flicking out of control during the emergency braking process. Typical operating conditions of tracking control, but there is no precise control method for this operating condition

Method used

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  • Segmented control method for intelligent electric vehicle drifting into storage with supervision mechanism
  • Segmented control method for intelligent electric vehicle drifting into storage with supervision mechanism
  • Segmented control method for intelligent electric vehicle drifting into storage with supervision mechanism

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Experimental program
Comparison scheme
Effect test

Embodiment

[0090] In this embodiment, the flow of drift storage realized according to the above method is as follows: figure 2 As shown, specifically:

[0091] Step 1. Based on the cubic Bezier curve path planning algorithm, the vehicle speed tracking algorithm of proportional-integral control, the path tracking algorithm of linear time-varying model predictive control, and the corner tracking algorithm of anti-saturation integral control, the drift trigger point is approached.

[0092] Create a cubic Bezier curve between the current position of the vehicle and the drift trigger point as the travel path. The four control points A, B, C, and D in the plane can uniquely determine a cubic Bezier curve. The curve parameterization equation is :

[0093] P(t)=A*(1-t) 3 +3B*(1-t) 2 *t+3C*(1-t)*t2 +D*t 3 ,t∈[0,1]

[0094] Step 2: When the vehicle reaches the drift trigger state, the drift action is triggered, and the drift process is completed under the control of the drift open-loop contr...

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Abstract

The invention relates to a segmented control method for intelligent electric vehicle drifting into storage with a supervision mechanism, comprising the following steps: 1) using a path planner to plan the approach path of the drift trigger point, and supervising and monitoring the planned path to complete the vehicle 2) When the vehicle reaches the drift trigger state, the drift action is triggered, and the drift process is completed under the control of the drift open-loop controller obtained through the tail-flick test, and finally stops in the desired warehouse position to achieve accurate tracking of the desired state and position of the vehicle. Compared with the prior art, the present invention has the advantages of improving control precision, realizing unmanned drifting into storage, perfecting failure monitoring strategies, and the like.

Description

technical field [0001] The invention relates to the field of intelligent electric vehicle control, in particular to a segmented control method for intelligent electric vehicle drifting into storage with a supervision mechanism. Background technique [0002] The vehicle continues to drive in a state where the rear tires are saturated and the rear axle is slipping, which is called drifting. There are two different drift states for vehicle drift: [0003] (1) The rear axle is driven and the rear wheels are slipping. At this time, the side slip angle of the center of mass of the vehicle and the speed of the vehicle can be kept at a constant value by controlling the driving force of the rear axle and the steering angle of the front wheels, so that the vehicle is in a stable state. Most cars are driven by the front axle, so the research value of drifting behavior in this state is relatively small. [0004] (2) The rear axle is locked and braked, and the rear wheel slips. At this...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/06B60W40/105B60W10/18B60W10/20
CPCB60W30/06B60W40/105B60W10/18B60W10/20B60W2710/207B60W2710/18
Inventor 刘铭冷搏余卓平熊璐
Owner TONGJI UNIV