The invention discloses a path tracking control method for a four-wheel independent drive electric vehicle, and is used for solving the problem of coupling conflict between a steering system and a drive/brake system in the path tracking process. A complex multi-target optimization problem is split into a single-target optimization problem independently solved by a steering subsystem and a driving/braking subsystem through a distributed model predictive control algorithm, and previous function overlapping and control contradiction of the subsystems are relieved. The parallel optimization solution of the steering controller and the driving/braking controller is realized by exchanging the historical optimal sequence, the calculation burden is reduced, the real-time performance of the control system is improved, the path tracking precision is obviously improved, and the safety of the automatic driving vehicle is improved.
本发明公开了一种的四轮独立驱动电动汽车路径跟踪控制方法,用于解决路径跟踪过程中转向系统和驱动/制动系统的耦合冲突问题。通过分布式模型预测控制算法将复杂的多目标优化问题拆分为转向子系统和驱动/制动子系统独立求解的单目标优化问题,减轻了子系统之前的功能重叠和控制矛盾。通过交换历史最优序列的方式实现了转向控制器和驱动/制动控制器的并行优化求解,降低了计算负担,提升了控制系统的实时性,显著改善了路径跟踪的精度,提高了自动驾驶车辆的安全性。
Distributed model prediction path tracking control method for four-wheel independent drive electric vehicle
四轮独立驱动电动汽车分布式模型预测路径跟踪控制方法
2021-11-05
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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