An integrated path tracking control method considering four-wheel equal spare tire force based on MPC is characterized in that a reference module, a longitudinal PID controller, a transverse MPC controller, a GVC technology module, a tire inverse model module and a CarSim vehicle model are included; the reference module is used for determining expected transverse deviation, course deviation and lateral speed; the longitudinal PID controller converts the difference value between the longitudinal speed output by the CarSim vehicle model and the expected longitudinal speed into the torque of the front axle of the automobile so as to track the expected longitudinal speed; the CarSim vehicle model is used for outputting the actual state quantity of the automobile, including the transverse speed, the longitudinal speed, the course angle and the transverse displacement of the automobile, the longitudinal force and the transverse force of four tires, the vertical load and the curvature of a road; the GVC module predicts longitudinal acceleration according to lateral acceleration output by the CarSim vehicle model, and then the longitudinal acceleration is converted into total braking force to be input to the MPC; the MPC controls and optimizes the lateral force of the automobile and sends the lateral force to a tire inverse model module, and the tire inverse model converts the lateral force into a front wheel turning angle and sends the front wheel turning angle to a CarSim vehicle model; and performing equality constraint on four wheels of the vehicle according to the total braking force obtained by the GVC, and inputting the optimized braking torque to the CarSim vehicle model to realize transverse stability control of the vehicle and improve the path tracking capability.

    一种基于MPC的考虑四轮均等后备轮胎力的一体式路径跟踪控制方法,其特征在于,该方法包括参考模块、纵向PID控制器、横向MPC控制器、GVC技术模块、轮胎逆模型模块以及CarSim车辆模型;参考模块用于确定期望的横向偏差、航向偏差、侧向速度;纵向PID控制器通过CarSim车辆模型输出的纵向速度与期望的纵向速度的差值,转化成汽车前轴的力矩进而跟踪期望的纵向速度;CarSim车辆模型用于输出汽车的实际状态量,包括汽车的横向车速、纵向车速、航向角、横向位移、四个轮胎的纵向力以及横向力、垂直载荷以及道路的曲率;GVC模块根据CarSim车辆模型输出的侧向加速度预测出纵向加速度,进而转化成总的制动力输入给MPC;MPC控制优化出汽车的侧向力给到轮胎逆模型模块,轮胎逆模型将侧向力转化成前轮转角给到CarSim车辆模型;根据GVC求出的总的制动力对车辆的四个车轮进行等式约束,将优化出的制动力矩输入给CarSim车辆模型,实现汽车的横向稳定性控制以及提高路径跟踪能力。


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    Titel :

    Integrated path tracking control method considering all-wheel equal spare tire force based on MPC


    Weitere Titelangaben:

    一种基于MPC的考虑全轮均等后备轮胎力的一体式路径跟踪控制方法


    Beteiligte:
    LI SHAOSONG (Autor:in) / ZHANG KAI (Autor:in) / LI HUI (Autor:in) / CUI GAOJIAN (Autor:in) / WANG XUYANG (Autor:in) / LU XIAOHUI (Autor:in) / LI JIACHUN (Autor:in) / DONG XUSHENG (Autor:in)

    Erscheinungsdatum :

    2023-09-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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