The invention discloses a path tracking control method based on differential steering. The method comprises the following steps: step 1, establishing a vehicle dynamics model based on differential steering; 2, an MPC transverse trajectory tracking controller is constructed according to the vehicle differential steering vehicle kinetic equation; and step 3, carrying out torque distribution on additional yawing torque generated by the driving torque difference of the left and right wheels of the front and rear shafts output by the MPC transverse trajectory tracking controller based on a load distribution method. According to the invention, better path tracking performance can be realized, and the driving control performance, the stability and the turning performance of the automobile are improved.

    本发明公开了一种基于差动转向的路径跟踪控制方法,包括如下步骤:步骤1、建立基于差动转向的车辆动力学模型;步骤2、根据车辆差动转向车辆动力学方程构建MPC横向轨迹跟踪控制器;步骤3、基于载荷分配法将MPC横向轨迹跟踪控制器输出的前后轴左右两轮驱动力矩差所产生的额外横摆力矩进行力矩分配。本发明可以实现较好的路径跟踪性能,提高了汽车行驶操控性能、稳定性和转弯性能。


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    Title :

    Path tracking control method based on differential steering


    Additional title:

    基于差动转向的路径跟踪控制方法


    Contributors:
    ZHANG BAOYI (author) / WAN MINWEI (author) / ZHU SHENGFENG (author) / ZHANG XIAOGANG (author) / CAI LIMING (author) / WU WEI (author) / ZHANG LANJUN (author)

    Publication date :

    2024-03-01


    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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