The invention discloses a trajectory tracking system and method for a four-wheel independent steering vehicle under an ice and snow covered pavement, and the method comprises the steps: collecting ice and snow covered pavement information data and vehicle driving state parameter data in the vehicle driving process, and obtaining the adhesion coefficients of four wheels of the four-wheel independent steering vehicle; performing four-wheel tire cornering stiffness estimation on the four-wheel independent steering vehicle; establishing an actual system model, and determining an input quantity and an output quantity of trajectory tracking control; and combining the optimal nominal system model control law with the pipeline control law to form final control input of an actual system model, thereby realizing trajectory tracking of the four-wheel independent steering vehicle on the ice and snow covered pavement. By combining the optimal nominal system model control law and the pipeline control law, the trajectory tracking control of the four-wheel independent steering vehicle is realized under the uncertainty that the snow depth degree of the four-wheel independent steering vehicle is not uniform on the road surface.

    本发明公开了一种冰雪路面下四轮独立转向车辆的轨迹跟踪系统及方法,包括:采集车辆行驶过程中冰雪路面信息数据及车辆行驶状态参数数据,得到四轮独立转向车辆四个车轮的附着系数;进行四轮独立转向车辆四轮轮胎侧偏刚度估计;建立实际系统模型,确定轨迹跟踪控制的输入量和输出量;将最优的标称系统模型控制律和管道控制律结合,形成实际系统模型的最终控制输入,实现四轮独立转向车辆在冰雪路面下的轨迹跟踪。本发明通过结合最优的标称系统模型控制律和管道控制律,使得四轮独立转向车辆在路面上积雪深浅程度不均匀的不确定性下,实现轨迹跟踪控制。


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    Titel :

    Trajectory tracking system and method for four-wheel independent steering vehicle under ice and snow covered pavement


    Weitere Titelangaben:

    一种冰雪路面下四轮独立转向车辆的轨迹跟踪系统及方法


    Beteiligte:
    ZHOU XIAOCHUAN (Autor:in) / LIU RUIQI (Autor:in) / ZHOU JINYU (Autor:in) / ZHAO WANZHONG (Autor:in) / WANG CHUNYAN (Autor:in) / ZHANG ZIYU (Autor:in)

    Erscheinungsdatum :

    11.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G07C TIME OR ATTENDANCE REGISTERS , Zeit- oder Anwesenheitskontrollgeräte



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