The invention provides a distributed driving vehicle trajectory tracking control method considering wheel speed compensation. The distributed driving vehicle trajectory tracking control method comprises the following steps: step 1, an intelligent vehicle trajectory tracking control method based on model prediction control; 2, according to the trajectory tracking error model of the vehicle, the expected yaw velocity of the vehicle is obtained through a Backstepping algorithm; and step 3, establishing a step-by-step driving vehicle inner and outer side wheel speed differential degree look-up table model. According to the technical scheme, optimization can be carried out on the basis of the original trajectory tracking control precision, a vehicle steering redundancy mode is provided, and the vehicle driving safety is improved.

    本发明提供了一种考虑轮速补偿的分布式驱动车辆轨迹跟踪控制方法,包括如下步骤:步骤1:基于模型预测控制的智能车辆轨迹跟踪控制方法;步骤2:根据车辆的轨迹跟踪误差模型,通过Backstepping算法得到车辆的期望横摆角速度;步骤3:建立分步式驱动车辆内外侧轮速差速程度查表模型。应用本技术方案可实现在原有轨迹跟踪控制精度的基础上进行优化,并提供一种车辆转向的冗余方式,提高车辆行驶的安全性。


    Access

    Download


    Export, share and cite



    Title :

    Distributed driving vehicle trajectory tracking control method considering wheel speed compensation


    Additional title:

    一种考虑轮速补偿的分布式驱动车辆轨迹跟踪控制方法


    Contributors:
    YI YINGCHUN (author) / ZHA YUNFEI (author) / MENG XIANFENG (author) / LYU XIAOLONG (author) / GUO YANRONG (author)

    Publication date :

    2023-05-16


    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



    Autonomous driving vehicle trajectory planning and tracking control method considering active safety

    SUI ZHEN / LI DAZHI / GAO YAN et al. | European Patent Office | 2023

    Free access

    Trajectory tracking control method based on two-wheel differential driving

    WU CHUN / CHEN XI | European Patent Office | 2024

    Free access


    Trajectory-Tracking Control for Autonomous Driving Considering Its Stability with ESP

    Pan, Fei / Deng, Weiwen / Zhang, Sumin et al. | British Library Conference Proceedings | 2018


    Distributed ramp convergence longitudinal control method considering main road vehicle coordination and trajectory tracking

    WANG HAO / HOU YUXUAN / DONG CHANGYIN et al. | European Patent Office | 2024

    Free access