The invention relates to the technical field of intelligent automobile control, in particular to a steering-differential path tracking control method and device for actuator failure, electronic equipment and a storage medium, and the method comprises the steps: obtaining a vehicle dynamics state and environment information, and calculating the current vehicle speed information and the current road adhesion coefficient; according to the vehicle speed information and the road adhesion coefficient, the residual execution capacity of the actuator under the fault condition is calculated; the maximum allowable yaw velocity is calculated based on the residual execution capacity of the actuator under the fault condition, whether differential motion participates in path tracking or not is judged based on the maximum allowable yaw velocity, and if the differential motion participates in path tracking, a differential steering function is triggered; and calculating a path tracking control function, a yaw stability function and a total driving torque, and performing actuator command distribution based on a return-to-zero control barrier function to obtain a vehicle control instruction. The safe path tracking after the execution of the automatic driving vehicle fails is ensured, and the problem of transverse instability easily caused by failure or differential intervention is avoided.
本发明涉及智能汽车控制技术领域,尤其涉及一种面向执行器失效的转向‑差动路径跟踪控制方法、装置、电子设备及存储介质,其中,方法包括:获取车辆动力学状态与环境信息,计算得当前车辆车速信息及当前道路附着系数;基车速信息及所述路附着系数计算得故障情况下的执行器剩余执行能力;基于故障情况下的执行器剩余执行能力计算最大容许横摆角速度,基于最大容许横摆角速度,判断差动是否参与路径跟踪,若差动参与路径跟踪,则触发差动转向功能;计算路径跟踪控制函数、横摆稳定函数和驱动总力矩,基于归零控制障碍函数进行执行器命令分配,得到车辆控制指令。保证自动驾驶车辆执行失效后安全路径跟踪,避免失效或者差动介入容易导致横向失稳问题。
Steering-differential path tracking control method for actuator failure
一种面向执行器失效的转向-差动路径跟踪控制方法
2024-08-06
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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