The invention belongs to the technical field of intelligent driving, and discloses a distributed driving vehicle trajectory tracking control method considering an energy consumption factor, and the method comprises the steps: obtaining a reference trajectory needing to be tracked, and constructing a trajectory tracking control model according to the reference trajectory; obtaining a front wheel rotation angle calculation formula and a rear wheel rotation angle calculation formula according to the trajectory tracking control model; delta f is equal to Kp1. E1 + Kd1. E2; delta r is equal to Kp2e1 + Kd2e2 + 1.5 * u2b; delta f is a front wheel turning angle, delta r is a rear wheel turning angle, Kp1 is a front wheel displacement error coefficient, Kd1 is a front wheel speed error coefficient, Kp2 is a rear wheel displacement error coefficient, Kd2 is a rear wheel speed error speed, e1 is a transverse displacement error, e2 is a transverse speed error, and u2b is a feedback quantity of the rear wheel turning angle; establishing a target function, and optimizing an array formed by the front wheel displacement error coefficient, the front wheel speed error coefficient, the rear wheel displacement error coefficient and the rear wheel speed error speed by taking the minimum target function as an optimization target to obtain an optimal array; and calculating according to the optimal array to obtain an optimal front wheel steering angle and an optimal rear wheel steering angle.
本发明属于智能驾驶技术领域,公开了一种考虑能耗因素的分布式驱动车辆轨迹跟踪控制方法,包括:获取需要跟踪的参考轨迹,并且根据所述参考轨迹构建轨迹跟踪控制模型;根据所述轨迹跟踪控制模型得到前轮转角计算公式和后轮转角计算公式;δf=Kp1·e1+Kd1·e2;δr=Kp2·e1+Kd2·e2+1.5·u2b;δf为前轮转角,δr为后轮转角,Kp1为前轮位移误差系数,Kd1为前轮速度误差系数,Kp2为后轮位移误差系数,Kd2为后轮速度误差速度,e1为横向位移误差、e2为横向速度误差,u2b为后轮转角的反馈量;建立目标函数,并以所述目标函数最小为优化目标,对所述前轮位移误差系数、所述前轮速度误差系数、所述后轮位移误差系数和所述后轮速度误差速度组成的数组进行优化,得到最优数组;根据所述最优数组计算得到最优前轮转角和最优后轮转角。
Distributed driving vehicle trajectory tracking control method considering energy consumption factor
一种考虑能耗因素的分布式驱动车辆轨迹跟踪控制方法
2024-12-06
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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