The invention discloses a distributed driving intelligent vehicle path tracking control method and system under steering failure, and relates to the technical field of intelligent control, vehicle driving state parameters are acquired, steering fault-tolerant control domains are divided into a classical domain, an extended domain and a non-domain according to the vehicle driving state parameters, emergency braking is performed on a vehicle if the steering fault-tolerant control domains are the non-domain, and the steering fault-tolerant control domains are the classical domain, the extended domain and the non-domain. If yes, a reference track and a reference vehicle speed are obtained; the reference track and the reference vehicle speed are input into a pre-established model prediction controller MPC, an expected front wheel steering angle is obtained through output, and the expected front wheel steering angle is converted into differential steering torque; the method comprises the following steps: acquiring current state information of a vehicle, inputting the current state information of the vehicle and a reference vehicle speed into a pre-established path tracking controller, outputting to obtain a driving torque, inputting a differential steering torque and the driving torque into a pre-established torque optimization distributor for optimization distribution, and realizing path tracking control of the vehicle.

    本发明公开了转向失效下的分布式驱动智能车路径跟踪控制方法及系统,涉及智能控制技术领域,获取车辆行驶状态参数,根据车辆行驶状态参数进行转向容错控制域划分,分为经典域、扩展域和非域,若为非域则对车辆进行紧急制动,若为经典域、扩展域,则获取参考轨迹和参考车速;将参考轨迹和参考车速输入至预先建立的模型预测控制器MPC内,输出得到期望前轮转角,将期望前轮转角转化为差动转向力矩;获取车辆当前状态信息,将车辆当前状态信息和参考车速输入至预先建立的路径跟踪控制器内,输出得到驱动力矩,将差动转向力矩和驱动力矩输入预先建立的转矩优化分配器内进行优化分配,实现对车辆的路径跟踪控制。


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    Title :

    Distributed driving intelligent vehicle path tracking control method and system under steering failure


    Additional title:

    转向失效下的分布式驱动智能车路径跟踪控制方法及系统


    Contributors:
    WANG CHENNING (author) / CHEN RUI (author) / XU WENQUAN (author) / ZHU LINGYUN (author) / SU FAN (author) / CHEN SHIJUN (author) / TU WEIWEI (author)

    Publication date :

    2024-09-10


    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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