The invention provides a distributed driving vehicle trajectory tracking control method considering wheel speed compensation. The distributed driving vehicle trajectory tracking control method comprises the following steps: step 1, an intelligent vehicle trajectory tracking control method based on model prediction control; 2, according to the trajectory tracking error model of the vehicle, the expected yaw velocity of the vehicle is obtained through a Backstepping algorithm; and step 3, establishing a step-by-step driving vehicle inner and outer side wheel speed differential degree look-up table model. According to the technical scheme, optimization can be carried out on the basis of the original trajectory tracking control precision, a vehicle steering redundancy mode is provided, and the vehicle driving safety is improved.
本发明提供了一种考虑轮速补偿的分布式驱动车辆轨迹跟踪控制方法,包括如下步骤:步骤1:基于模型预测控制的智能车辆轨迹跟踪控制方法;步骤2:根据车辆的轨迹跟踪误差模型,通过Backstepping算法得到车辆的期望横摆角速度;步骤3:建立分步式驱动车辆内外侧轮速差速程度查表模型。应用本技术方案可实现在原有轨迹跟踪控制精度的基础上进行优化,并提供一种车辆转向的冗余方式,提高车辆行驶的安全性。
Distributed driving vehicle trajectory tracking control method considering wheel speed compensation
一种考虑轮速补偿的分布式驱动车辆轨迹跟踪控制方法
16.05.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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