The invention discloses a path tracking control method and device for a four-wheel independent steering vehicle. The path tracking control method comprises the steps that the current vehicle state is obtained; according to the input vehicle state, the upper-layer controller combines a four-wheel independent steering vehicle kinematics model to calculate the steering radius; according to the steering radius obtained through calculation, the lower-layer controller is combined with an uncertain steering dynamics model of the four-wheel independent steering vehicle, a steering angle consistent coordination control target meeting the steering radius and Ackerman steering relation is converted into a coupling constraint between steering angles, and the coupling constraint is used for calculating torque control output. According to the method, the problems of path tracking performance deterioration and tire wear caused by uncertainty and inconsistency of steering dynamics in the path tracking process of the four-wheel independent steering vehicle can be solved, and meanwhile, the constraint satisfaction condition in the control process is considered.

    本发明公开了一种四轮独立转向车辆的路径跟踪控制方法与装置,路径跟踪控制方法包括:获取当前的车辆状态;根据输入的车辆状态,上层控制器结合四轮独立转向车辆运动学模型,计算得到转向半径;根据计算得到的转向半径,下层控制器结合四轮独立转向车辆的具有不确定性的转向动力学模型,将满足转向半径和阿克曼转向关系的转向角一致协调控制目标转化为转向角之间的耦合约束,该耦合约束用于计算转矩控制输出。本发明能够解决四轮独立转向车辆在路径跟踪过程中,由于转向动力学不确定性和不一致性引起的路径跟踪性能恶化和轮胎磨损问题,同时考虑了控制过程中的约束满足情况。


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    Title :

    Path tracking control method and device for four-wheel independent steering vehicle


    Additional title:

    一种四轮独立转向车辆的路径跟踪控制方法与装置


    Contributors:
    YANG ZEYU (author) / DAI YUSHENG (author) / QIN XIAOHUI (author) / XU BIAO (author) / QIN ZHAOBO (author) / XIE GUOTAO (author) / WANG XIAOWEI (author) / QIN HONGMAO (author) / DING RONGJUN (author)

    Publication date :

    2024-03-19


    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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