An automobile path tracking performance improving method based on tire force distribution is characterized in that a path planning module, an MPC controller and a CarSim automobile model are included;the path planning module is used for determining a reference lateral displacement and a yaw angle; the CarSim automobile model is used for outputting the actual state quantity of an automobile, and the actual state quantity comprises the lateral speed, the yaw velocity, the yaw angle, the longitudinal displacement and the lateral displacement of the automobile; and the MPC controller optimizes and solves the front wheel rotating angle of the automobile and the braking force of each wheel and inputs the front wheel rotating angle and the braking force to the CarSim automobile model to realizepath tracking of the automobile.
一种基于轮胎力分配的汽车路径跟踪性能提升方法,其特征在于,该方法包括路径规划模块、MPC控制器和CarSim汽车模型;路径规划模块用于确定参考侧向位移和横摆角;CarSim汽车模型用于输出汽车的实际状态量,包括汽车侧向速度、横摆角速度、横摆角、纵向位移和侧向位移;MPC控制器优化求解出汽车的前轮转角和各个车轮的制动力并输入给CarSim汽车模型,实现汽车的路径跟踪。
Automobile path tracking performance improving method based on tire force distribution
一种基于轮胎力分配的汽车路径跟踪性能提升方法
2020-11-20
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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