The invention relates to the technical field of unmanned vehicle motion control, and discloses an unmanned vehicle trajectory tracking and yaw stability control method and system. According to the method, a trajectory tracking controller, a vehicle speed tracking controller and a yawing moment controller are established to obtain an expected front wheel steering angle, a longitudinal driving moment and an additional yawing moment respectively, and active steering control, longitudinal vehicle speed control and vehicle yawing stability control are carried out; establishing a four-wheel torque distribution controller, and optimizing the target driving torque of the wheels according to the longitudinal driving torque and the additional yawing torque; and a sliding rate tracking controller is established, the target driving force is converted into a target sliding rate, wheel driving torque is output, and target tire force tracking control of the vehicle is carried out. According to the method, the dynamic characteristics of the tire are considered, the tire force is indirectly controlled, the target tire force is followed, the control algorithm is simple, the real-time performance is good, and the trajectory tracking precision is fully improved while the unmanned vehicle stably runs.
本申请涉及无人驾驶车辆运动控制技术领域,公开了一种无人驾驶车辆轨迹跟踪与横摆稳定性控制方法及系统。所述方法建立轨迹跟踪控制器、车速跟踪控制器和横摆力矩控制器,以分别获取期望前轮转角、纵向驱动力矩和附加横摆力矩,进行主动转向控制、纵向车速控制和车辆横摆稳定性控制;建立四轮力矩分配控制器,根据纵向驱动力矩和附加横摆力矩优化车轮的目标驱动力矩;建立滑动率跟踪控制器,将目标驱动力转化为目标滑动率,并输出车轮驱动力矩,进行车辆的目标轮胎力跟踪控制。本申请考虑轮胎动态特性,对轮胎力进行间接控制,使其跟随目标轮胎力,控制算法简单、实时性好,在无人驾驶车辆稳定行驶的同时充分提高了轨迹跟踪精度。
Unmanned vehicle trajectory tracking and yaw stability control method and system
无人驾驶车辆轨迹跟踪与横摆稳定性控制方法及系统
2023-10-13
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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