The invention discloses a lane changing obstacle avoidance trajectory tracking control method and system, electronic equipment and a storage medium. The method comprises the following steps: constructing a vehicle motion model; according to the vehicle motion model, a transverse displacement tracking controller is constructed through a preset model prediction control algorithm to predict a vehicle front wheel steering angle; an additional yawing moment controller is constructed through a preset optimization control algorithm according to the vehicle motion model so as to predict the additional yawing moment of the vehicle; according to the vehicle motion model, a longitudinal total demand force controller is constructed through a preset sliding mode control algorithm to predict the longitudinal total demand force of the vehicle; and according to the vehicle front wheel steering angle, the vehicle additional yawing moment and the vehicle longitudinal total demand force, multi-target constraint moment distribution is carried out through a moment optimization algorithm, and the lane changing obstacle avoidance expected moment is obtained. According to the embodiment of the invention, vehicle lane changing obstacle avoidance trajectory tracking control can be realized, and the vehicle trajectory tracking precision and robustness are improved. The method can be widely applied to the technical field of intelligent control of new energy automobiles.
本申请公开一种换道避障轨迹跟踪控制方法、系统、电子设备及存储介质,方法包括:构建车辆运动模型;根据车辆运动模型通过预设模型预测控制算法构建横向位移跟踪控制器,以预测车辆前轮转向角;根据车辆运动模型通过预设优化控制算法构建得到附加横摆力矩控制器,以预测车辆附加横摆力矩;根据车辆运动模型通过预设滑模控制算法构建纵向总需求力控制器,以预测车辆纵向总需求力;根据车辆前轮转向角、车辆附加横摆力矩以及车辆纵向总需求力通过力矩优化算法进行多目标约束力矩分配,得到换道避障期望力矩。本申请实施例能够实现车辆换道避障轨迹跟踪控制,提高车辆轨迹跟踪精度和鲁棒性。本申请可以广泛应用于新能源汽车智能控制技术领域。
Lane changing obstacle avoidance trajectory tracking control method and system, electronic equipment and storage medium
换道避障轨迹跟踪控制方法、系统、电子设备及存储介质
2024-08-09
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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