The invention relates to the field of automatic driving vehicle research, in particular to a distributed driving electric vehicle coordination control method and device considering trajectory tracking and dynamic stability and a storage medium. The method comprises the following steps: firstly, establishing a vehicle model and a driver single-point preview model; secondly, the real-time position and global information of the vehicle are obtained, the yaw velocity is predicted through a quadratic polynomial extrapolation method, and the longitudinal velocity of the vehicle is modified in real time and tracked according to the change rate of the yaw velocity; and finally, the front wheel turning angle is calculated through a model prediction control method, the yaw velocity and the active yaw moment are modified in real time by setting the weight coefficient considering the vehicle stability, the tracking yaw rate and the stability are controlled, distribution of the tire torque is completed, and coordinated control between trajectory tracking and the vehicle dynamics stability is achieved. Compared with the prior art, the method has the advantages that the trajectory tracking effect and the dynamic stability are balanced when the vehicle is in the extreme working condition, and the like.
本发明自动驾驶车辆研究领域,尤其是涉及一种分布式驱动电动车考虑轨迹跟踪和动力学稳定性的协调控制方法、装置及存储介质。该方法首先建立车辆模型和驾驶员单点预瞄模型;其次,获取车辆实时位置和全局信息,利用二次多项式外推法预测横摆角速度,并根据横摆角速度的变化率对车辆的纵向速度进行实时修改与速度跟踪;最后,利用模型预测控制方法计算前轮转角,并通过设置考虑车辆稳定性的权重系数实时修改横摆角速度和主动横摆力矩,对跟踪偏航速率和稳定性进行控制,完成轮胎转矩的分配,实现轨迹跟踪和车辆动力学稳定性之间的协调控制。与现有技术相比,本发明具有在车辆处于极端工况下时,平衡轨迹跟踪效果和动力学稳定性等优点。
Coordination control method and device considering trajectory tracking and dynamic stability for distributed driving electric vehicle and storage medium
分布式驱动电动车考虑轨迹跟踪和动力学稳定性的协调控制方法、装置及存储介质
2024-05-31
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 |
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