Steering and braking integrated path tracking control method based on dimensionality reduction model

Abstract

The invention provides a steering and braking integrated path tracking control method based on a dimension reduction model, and belongs to the technical field of automatic driving automobile path tracking control. The method comprises the following steps: constructing an automobile dynamics model, a wheel dynamics model and a UniTire tire model; performing dimensionality reduction on the automobile dynamics model, and constructing an automobile dynamics dimensionality reduction model; constructing an integrated MPC path tracking controller based on the dimension reduction model according to the constructed automobile dynamics dimension reduction model, the wheel dynamics model and the UniTire tire model; adding a tire force optimization index into the integrated MPC path tracking controller; and according to the constructed integrated MPC path tracking controller, solving a path tracking control problem to realize path tracking control. By adopting the method disclosed by the invention, the problems of vehicle sideslip caused by excessive utilization of tire force under an extreme working condition and heavy calculation burden and poor real-time performance of an existing steering and braking integrated path tracking control method based on MPC can be avoided.

Description

technical field [0001] The invention relates to the technical field of automatic driving vehicle path tracking control, in particular to a steering and braking integrated path tracking control method based on a dimensionality reduction model. Background technique [0002] Global traffic congestion and road safety have continued to deteriorate over the past decade. In my country, the economic loss caused by traffic congestion accounts for 20% of the urban population's disposable income, equivalent to 5-8% of the gross domestic product (GDP). On the other hand, traffic accidents cause approximately 1.35 million deaths and approximately $1.85 trillion in economic losses worldwide each year. Alleviating traffic congestion, reducing traffic accidents and improving road traffic safety have become urgent problems to be solved in all countries in the world. [0003] In recent years, the rapid development of autonomous driving technology has brought hope to solve these problems. A...

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Problems solved by technology

[0005] The embodiment of the present invention provides a steering and braking integrated path tracking control method based on a dimensionality reduction model, which can solve the problem of the existing MPC-based steering and braking integrated path tracking control method with heavy calculation burden and poor real-time performance, which is difficult in engineering. The technical problems of the application, as well as the technical problems of vehicle sideslip caused by excessive use of tire force under extreme conditions

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