A lateral path tracking method and device based on weight coefficient adaptation, equipment and storage medium

By using an adaptive weighting coefficient adjustment lateral path tracking method, and employing a linear quadratic adjustment algorithm and an improved sliding mode control algorithm, the front wheel steering angle and additional torque are calculated, thus solving the lateral stability problem of the vehicle under complex road conditions and achieving higher safety and stability.

CN119160179BActive Publication Date: 2025-12-19SINO TRUK JINAN POWER CO LTD
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Patent Information

Application Number
CN202411602994.4
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-11-11
Publication Date
2025-12-19
Estimated Expiration
2044-11-11

AI Technical Summary

Technical Problem

Existing vehicle lateral path tracking methods struggle to guarantee safety and stability under complex road conditions. Classical sliding mode control suffers from jitter issues and the weighting coefficients cannot be automatically adjusted, reducing its adaptability.

Method used

The front wheel steering angle is calculated using a linear quadratic adjustment algorithm. An improved sliding mode control algorithm is used to design a stability compensation controller for the additional torque. The weights are automatically adjusted by combining the phase plane diagram of the center of gravity sideslip angle and yaw rate, and the distribution of additional yaw torque is calculated in real time.

Benefits of technology

It improves the lateral stability and safety of vehicles under complex road conditions, reduces vibration, and enhances the adaptability and control stability of the system.

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Abstract

The application belongs to the field of vehicle driving assistance, and specifically provides a lateral path tracking method and device based on adaptive weight coefficients, equipment and storage medium, the method comprises the following steps: calculating the front wheel steering angle through the linear quadratic regulation algorithm in the upper controller; calculating the control variable to eliminate the feedback error through the feedforward control; using the improved sliding mode control algorithm to design the stability compensation controller of the additional torque, calculating the additional yaw moment for the compensation of the total driving torque; judging the current stability state through the phase plane of the center of mass side slip angle and the yaw angular velocity, and automatically adjusting the weight of the phase plane based on the judgment result of the stability state; calculating the distribution of the additional yaw torque in real time through the adaptive adjusted weight coefficient. Through the sliding mode control theory, the stability is determined. Through the adaptive adjustment of the weight coefficient, the additional yaw torque is calculated in real time, and the control stability is improved.
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