The invention discloses a trajectory tracking stability control method for an intelligent driving automobile. The method comprises the following steps: S1, realizing control of a front wheel turning angle by adopting a transverse turning angle control system and based on a model prediction control algorithm; s2, an additional yawing moment distribution system is adopted, and the additional yawing moment is calculated based on the sliding mode control theory; and S3, formulating a torque distribution strategy with a longitudinal force target to realize four-wheel torque distribution. According to the method, the running stability and tracking precision of the intelligent vehicle under the high-speed and low-attachment working condition can be improved.
本发明公开了一种智能驾驶汽车轨迹跟踪稳定性控制方法,包括以下步骤:S1,采用横向转角控制系统并基于模型预测控制算法实现前轮转角的控制;S2,采用附加横摆力矩分配系统并基于滑模控制理论计算附加横摆力矩;S3,以纵向力目标制定力矩分配策略实现四轮力矩分配。本发明的方法可以提高智能车辆在高速低附着工况下行驶的稳定性和跟踪精度。
Intelligent driving automobile trajectory tracking stability control method
一种智能驾驶汽车轨迹跟踪稳定性控制方法
2024-07-26
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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