The invention discloses a vehicle trajectory tracking and stability coordination control method considering roll. The method comprises the following steps: 1) constructing a vehicle four-degree-of-freedom dynamics linearization model; 2) based on the vehicle four-degree-of-freedom dynamics linearization model, constructing an MPC prediction model; 3) constructing a coordination control objective function and constraint conditions based on the MPC prediction model; and 4) based on the coordination control constraint condition, solving the coordination control objective function to obtain a vehicle four-wheel driving force optimal distribution scheme. According to the invention, trajectory tracking and stability coordination control under the emergency working condition can be realized.
本发明公开考虑侧倾的车辆轨迹跟踪与稳定性协调控制方法,包括以下步骤:1)构建车辆四自由度动力学线性化模型;2)基于车辆四自由度动力学线性化模型,构建MPC预测模型;3)基于MPC预测模型,构建协调控制目标函数与约束条件;4)基于协调控制约束条件,对协调控制目标函数进行求解,得到车辆四轮驱动力优化分配方案。本发明可以实现紧急工况下的轨迹跟踪与稳定性协调控制。
Vehicle trajectory tracking and stability coordination control method considering roll
考虑侧倾的车辆轨迹跟踪与稳定性协调控制方法
2024-01-30
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 |
Research on autonomous vehicle path tracking control considering roll stability
SAGE Publications | 2021
|European Patent Office | 2024
|European Patent Office | 2024
|Commercial vehicle lane keeping control method considering roll stability
European Patent Office | 2023
|