An Adaptive Path Tracking Method Based on Distributed Drive Electric Vehicle

Abstract

The invention provides an adaptive path tracking method based on a distributed drive electric vehicle, which includes the following steps: establishing a vehicle dynamics model and converting it into a state space equation; according to the vehicle dynamics model, combined with the variation range of tire cornering stiffness, establishing Vehicle vertex dynamics model; calculate the parameter estimation adaptation rate of the vehicle vertex dynamics model, and estimate the adaptive coefficient according to the real-time system state of the vehicle; establish a vehicle state prediction model based on the adaptive coefficient estimation result, and predict the future state of the vehicle and system output ; Establish path tracking optimization objective function, lateral speed constraint objective function and solve them, and obtain the first set of results of the optimal control sequence as the input of the front wheel angle and four wheel driving / braking torques at the next moment of the vehicle. The invention can solve the technical problem that the perturbation of tire cornering stiffness will reduce the control accuracy of the controller and reduce the robustness of the vehicle path tracking control when the vehicle autonomous path tracking is used.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to an adaptive path tracking method based on distributed drive electric vehicles. Background technique [0002] With the significant progress in sensor technology, control technology, and chip computing power, the intelligence of cars is also being upgraded. At present, active safety and driver assistance systems are gradually moving towards highly automated driving or even fully automated driving. As the bottom layer of the automatic driving system framework, the path tracking control technology enables the vehicle to drive according to the expected trajectory, which is the basic guarantee for realizing the automatic driving of the vehicle. The distributed drive electric vehicle has become an ideal carrier for fully autonomous driving because of its four wheel hub motor drive / brake torques can be independently controlled, and the response speed is fast. [0003] For the ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the existing technology, the present invention proposes an adaptive path tracking method based on distributed drive electric vehicles to solve the problem of tire cornering stiffness in the prior art when using a model prediction algorithm to realize vehicle autonomous path tracking. Perturbation will reduce the control accuracy of the controller and reduce the robustness of the vehicle path following control.

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