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Vehicle trajectory tracking control method and system

A technology for tracking control and vehicle trajectory, applied in the direction of control devices, etc., can solve the problems affecting the robustness of the control system, and achieve the effect of reducing computational complexity and high global identification accuracy

Active Publication Date: 2021-08-27
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in the existing vehicle trajectory tracking control, the tire model used often requires complex numerical calculations, which leads to the simplification of the tire characteristics in order to reduce the complexity of the solution, which affects the robustness of the control system.

Method used

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  • Vehicle trajectory tracking control method and system
  • Vehicle trajectory tracking control method and system
  • Vehicle trajectory tracking control method and system

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Experimental program
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Embodiment 1

[0056] Intelligent vehicle trajectory tracking control has been developed from the earliest preview theory and driver model, tracking the preview point by simulating the driver's driving behavior, to more advanced control methods applied to vehicle control, such as sliding mode control, linear matrix inequality, Neural network control, model predictive control, etc. Among them, model predictive control is good at dealing with multi-coupling problems with explicit constraints, and can better adapt to multi-free vehicle models and complex UniTire tire models. In addition, the existence of prediction, optimization, and feedback links and the solution to optimal control problems ensure that The robustness of the algorithm and the smoothness of the control.

[0057]The tire model is a highly nonlinear model. The tire models commonly used in vehicle trajectory tracking control usually include the following types: the first is the simplest linear tire model, which can simplify the ca...

Embodiment 2

[0066] This embodiment provides a vehicle trajectory tracking control method, using the system as described in Embodiment 1, such as figure 2 As shown, the method includes:

[0067] Step 101: Obtain the lateral control parameters and longitudinal control parameters of the vehicle;

[0068] Step 102: Obtain the yaw moment according to the lateral control parameters combined with the UniTire tire model;

[0069] Step 103: Obtain the total longitudinal force through the sliding mode controller according to the longitudinal control parameters;

[0070] Step 104: Obtain the control moment of the vehicle according to the yaw moment and the total longitudinal force, and realize the trajectory tracking control of the vehicle according to the control moment.

[0071] Hereinafter, this embodiment will be specifically described by taking the trajectory tracking control applied to an electric vehicle with four-wheel independent drive as an example.

[0072] When performing trajectory ...

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Abstract

The invention relates to a vehicle trajectory tracking control method and system.The method introduces a full-working-condition high-precision UniTire model, is embedded into a linear time-varying MPC control algorithm to realize trajectory tracking, further expands the adaptive scenes of intelligent vehicle trajectory tracking control, such as high speed, low road adhesion, large slip rate and the like, and improves the tracking performance. Meanwhile, the local linearization process of the model is calculated by adopting a numerical calculation method, so that the calculation complexity is reduced on the premise of not influencing the calculation precision, and the expected trajectory can still be tracked and the vehicle can be controlled to be stable under a large tire slip rate.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle control, in particular to a vehicle trajectory tracking control method and system. Background technique [0002] As the only contact part between the vehicle and the ground, the tire dynamics model is closely related to the vehicle dynamics model and vehicle stability control. The accuracy of the tire model will directly affect the accuracy of vehicle control and driving safety. [0003] The research of intelligent vehicles is usually divided into three aspects: perception, planning, and vehicle control. The control of intelligent vehicles usually refers to tracking the expected trajectory calculated by the perception layer and the planning layer. Trajectory tracking includes tracking the expected path and expected vehicle speed. At the same time, appropriate constraints are established to ensure the stability of the vehicle. Intelligent vehicle trajectory tracking is one of the key t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W50/00
CPCB60W30/02B60W50/00B60W2050/0034B60W2050/0019
Inventor 吴海东李子晗卢荡黄世庆龙祥
Owner JILIN UNIV