The invention discloses a four-wheel drive and four-wheel steering autonomous vehicle limit obstacle avoidance working condition trajectory tracking control method and device, and the method comprises the steps: designing a corresponding slip rate and tire slip angle peak range according to the analysis of the influence of the tire slip rate on the tire transverse force; a self-adaptive sliding-mode observer is adopted to estimate the longitudinal force of the tire in real time, and an estimated value is substituted into a model prediction controller to replace the output of the controller at the last moment, so that the control precision is improved, and the attachment limit of the tire is fully utilized to prevent the tire force from being saturated; and through an approximation nonlinear model, the calculation burden is reduced, and the problem of low control precision when a two-degree-of-freedom linear model is used is solved. The multi-input multi-output nonlinear model prediction controller can realize better track and speed tracking on a high-adhesion road surface, and meanwhile, the vehicle has a good steering response speed. On the road surface of which the adhesion coefficient cannot meet the planned trajectory, the method can maintain the tracking capability of the expected trajectory on the basis of controlling the vehicle not to be unstable.

    本发明公开了一种四轮驱动与四轮转向的自动驾驶汽车极限避障工况轨迹跟踪控制方法及设备,根据轮胎滑移率对轮胎横向力影响的分析,设计对应的滑移率与轮胎侧偏角峰值范围。采用自适应滑模观测器实时估计轮胎纵向力,并将估计值代入模型预测控制器中以代替控制器的上一时刻输出,提高控制精度,充分利用轮胎的附着极限防止轮胎力饱和;通过逼近非线性模型,降低计算负担,解决了使用二自由度线性模型控制精度低的问题。多输入多输出非线性模型预测控制器可在高附着力路面上实现较好的轨迹和速度跟踪,同时车辆具有良好的转向响应速度。在附着系数无法满足所规划轨迹的路面上,本发明能在控制车辆不失稳的基础上保持对期望轨迹的跟踪能力。


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    Title :

    Four-wheel drive and four-wheel steering autonomous vehicle limit obstacle avoidance working condition trajectory tracking control method and device


    Additional title:

    一种四轮驱动与四轮转向的自动驾驶汽车极限避障工况轨迹跟踪控制方法及设备


    Contributors:
    CAI YINGFENG (author) / LI YUXING (author) / DONG ZHAOZHI (author) / SUN XIAOQIANG (author) / CHEN LONG (author) / YUAN CHAOCHUN (author) / XU XING (author) / CHEN TE (author)

    Publication date :

    2023-04-04


    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



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