An electric vehicle trajectory tracking control method comprises the following steps: establishing an adaptive preview model, establishing an objective function of the adaptive preview model based on a grey wolf algorithm, and solving the objective function to obtain preview point coordinate information; establishing a vehicle dynamics model, and further constructing a tire cornering stiffness correction model to obtain corrected tire cornering stiffness; obtaining a discrete system through an Euler method in combination with the coordinate information of the preview point and the corrected tire cornering stiffness; constructing a vehicle trajectory tracking control model, taking the obtained state quantity as an evaluation index, and introducing a speed pause particle swarm algorithm to optimize a state quantity weight coefficient matrix in real time; and constructing a feed-forward control model based on the corrected tire cornering stiffness to obtain a feed-forward front wheel steering angle, and obtaining a final front wheel steering angle based on the feed-forward front wheel steering angle and a front wheel steering angle output by the vehicle trajectory tracking control model. The method can meet the trajectory tracking precision when the electric vehicle runs on a large-curvature road at a high speed.
一种电动汽车轨迹跟踪控制方法,包括:建立自适应预瞄模型,基于灰狼算法建立自适应预瞄模型的目标函数,并对目标函数进行求解,得到预瞄点坐标信息;建立车辆动力学模型,进而构建轮胎侧偏刚度修正模型,得到修正后的轮胎侧偏刚度;结合预瞄点坐标信息和修正后的轮胎侧偏刚度,通过欧拉法得到离散系统;构建车辆轨迹跟踪控制模型,并将得到的状态量作为评价指标,引入速度暂停粒子群算法对状态量权重系数矩阵进行实时优化;基于修正后的轮胎侧偏刚度构建前馈控制模型,得到前馈前轮转角,并基于前馈前轮转角和车辆轨迹跟踪控制模型输出的前轮转角,得到最终前轮转角。本发明能够满足电动汽车在大曲率道路高速行驶时的轨迹跟踪精度。
Trajectory tracking control method for electric vehicle
一种电动汽车轨迹跟踪控制方法
2025-01-28
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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