Trajectory tracking control strategy for distributed driving vehicle

Abstract

The invention discloses a trajectory tracking control strategy for a distributed driving vehicle. The trajectory tracking control strategy comprises the following steps of 1, setting a reference trajectory, establishing a ground coordinate system, obtaining a vehicle monorail dynamics model, and establishing a state space model for control guidance; 2, adjusting a state space model through a feedforward control method based on an ideal state, and obtaining a feedforward control variable; 3, the input of the feedforward control method being substituted into an inversion sliding mode variable structure control method to adjust the state space model, and an inversion sliding mode control quantity being obtained; and step 4, adjusting the control variable to enable the error between the actual trajectory of the vehicle and the reference trajectory to approach 0, and realizing trajectory tracking of the vehicle. According to the method, a four-wheel independent drive vehicle is used as a platform, an expected value is used as a target to calculate feed-forward output corresponding to a controller, various interferences are overcome through inversion control, a mature and reliable Luenberger state observer is designed for the characteristic that part of parameters are difficult to measure, and good trajectory tracking performance is achieved.

Description

technical field [0001] The present invention relates to the technical field of rescue equipment, and more specifically, the present invention relates to a trajectory tracking control strategy for distributed drive vehicles. Background technique [0002] Faced with increasingly tense energy and environmental pressures, governments of various countries have introduced a large number of policies and measures to encourage the development of new energy vehicles. At the same time, with the rise of computer technology in the fourth industrial revolution, the intelligentization, networking, electrification and sharing of vehicles have gradually become a new trend. A hot spot pursued by universities and research institutions. The realization of high-precision trajectory tracking is the key to the realization of unmanned driving technology, and it also has a huge impact on the comfort and handling stability of the vehicle. Based on the above research hotspots, using new energy vehic...

AI Technical Summary

Problems solved by technology

[0003] In the existing technology, pure electric vehicles are mainly used as the carrier. Except for the difference in power source, the existing pure electric vehicles and traditional vehicles are not significantly different in steering, braking, driving and other actuators, which cannot give full play to the flexible control of new energy vehicles. characteristic

At the same time, in terms of control strategy, the traditional PID control and its improved type still dominate, and the new model predictive control, deep reinforcement learning and other methods are still lacking in real-time and reliability.

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