The invention provides a stability-fused intelligent automobile path tracking control method, and aims to improve the path tracking precision and improve the automobile stability. The method comprisesthe steps of establishing a high-speed vehicle equivalent dynamic model and a vehicle preview error model considering pavement topography, designing a preview distance generator, and establishing a function relationship between a prediction time domain and road curvature. A path tracking controller is designed based on a model prediction control algorithm; an index model is used for representingthe expected speed of the vehicle, and a proportional-integral-differential longitudinal controller is designed; meanwhile, a mass center slip angle phase plane graph is used for representing vehiclestability characteristics, and a proportional-integral-differential vehicle stability controller is designed. According to the control method provided by the invention, the vehicle tracking performance can be optimized on pavements with different adhesion coefficients, and the problem of low tracking precision on a large-curvature road is solved. The path tracking precision under the high-speed working condition is improved, and the driving stability is improved.
本发明提供一种融合稳定性的智能汽车路径跟踪控制方法,目的是提高路径跟踪精度,改善车辆稳定性。包括建立考虑路面地形的高速车辆等效动力学模型和车辆预瞄误差模型,设计预瞄距离发生器,建立预测时域与道路曲率的函数关系。本发明基于模型预测控制算法设计路径跟踪控制器;运用指数模型表示车辆期望车速,设计了比例积分微分纵向控制器;同时运用质心侧偏角相平面图表征车辆稳定性特征,设计比例积分微分整车稳定性控制器。本发明提出的控制方法能在不同附着系数路面上对车辆跟踪性能进行优化,解决在大曲率道路上跟踪精度低的问题。提升了高速工况下的路径跟踪精度,并改善了行驶稳定性。
Stability-fused intelligent automobile path tracking control method
一种融合稳定性的智能汽车路径跟踪控制方法
2020-11-13
Patent
Electronic Resource
Chinese
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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