According to the AMPC-based multi-axis distributed driving vehicle steering auxiliary trajectory tracking method provided by the invention, a prediction model is established based on a linear two-degree-of-freedom monorail model, so that the vehicle can realize relatively high prediction precision when the tire force is in a linear region; a linear quadratic regulator is adopted in the driver model, and the conditions of a skilled driver for tracking an expected track can be simulated as much as possible; according to the method, a multi-cost objective function is constructed by considering multiple factors such as an intervention auxiliary quantity, a reference trajectory tracking error, a front wheel steering angle and a change rate of the front wheel steering angle, a driving weight attenuation coefficient and a driving weight coefficient are introduced to measure and characterize the confidence degree of the intention of a driver in a prediction window, and finally an optimal front wheel steering angle output value is obtained through solving. The vehicle can quickly and stably arrive at the target track, and shaking is reduced and smoothness can be ensured in the process.

    本发明提供了一种基于AMPC的多轴分布式驱动车辆转向辅助轨迹跟踪方法,基于线性二自由度的单轨模型建立预测模型,能使车辆在轮胎力处于线性区时实现较高的预测精度;驾驶员模型采用了线性二次型调节器,能够尽可能模拟熟练驾驶员跟踪预想轨迹的条件;方法中考虑干预辅助量、参考轨迹跟踪误差、前轮转角及其变化率等多方面因素构造多成本目标函数,并且引入了驾驶权衰减系数和驾驶权重系数来衡量与表征预测窗口内对驾驶员意图的置信程度,最终求解得到的最优前轮转角输出值,能够使车辆迅速平稳的到达目标轨迹,且在过程中减少抖动并能保证平顺性。


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    Title :

    Multi-axis distributed driving vehicle steering auxiliary trajectory tracking method based on AMPC


    Additional title:

    一种基于AMPC的多轴分布式驱动车辆转向辅助轨迹跟踪方法


    Contributors:
    SUN FENGCHUN (author) / LI ZHICHAO (author) / LI JUNQIU (author)

    Publication date :

    2023-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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