The invention relates to a vehicle path tracking control method applicable to an attachment limit working condition. The method comprises the following steps: acquiring vehicle and environment information; generating a reference path according to the vehicle and environment information; calculating an expected course angular velocity and an expected yaw angular acceleration according to the reference path; according to the calculated expected course angular velocity and expected yaw angular acceleration, calculating a front axle lateral force, an expected rear axle lateral force and an expected rear axle driving force of the vehicle based on an inverse dynamics model; calculating an expected front wheel steering angle and an expected rear axle driving torque which need to be applied to the vehicle; according to the calculated expected front wheel steering angle and the expected rear axle driving torque, corresponding control instructions are generated so that the expected front wheel steering angle and the expected rear axle driving torque can be applied to the vehicle. According to the scheme, the use condition of the path tracking controller of the automatic driving vehicle is expanded, and the driving safety of the vehicle in a complex traffic environment is improved.

    本发明涉及一种适用于附着极限工况的车辆路径跟踪控制方法,包括:获取车辆及环境信息;根据所述车辆及环境信息,生成参考路径;根据所述参考路径,计算期望航向角速度和期望横摆角加速度;根据计算的所述期望航向角速度和所述期望横摆角加速度,基于逆动力学模型计算所述车辆的前轴侧向力、期望后轴侧向力和期望后轴驱动力;计算需要向所述车辆施加的期望前轮转角和期望后轴驱动转矩;根据计算的所述期望前轮转角和所述期望后轴驱动转矩,分别生成相应的控制指令,以供将所述期望前轮转角和所述期望后轴驱动转矩分别施加于所述车辆。本方案拓展自动驾驶车辆的路径跟踪控制器的使用工况,提高车辆在复杂交通环境中的行驶安全性。


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    Title :

    Vehicle path tracking control method and device suitable for attachment limit working condition


    Additional title:

    一种适用于附着极限工况的车辆路径跟踪控制方法及装置


    Contributors:
    LIU WEILONG (author) / ZHANG JUNZHI (author) / HE CHENGKUN (author) / ZHAO SHIYUE (author)

    Publication date :

    2023-11-24


    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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