The invention provides a smooth trajectory planning and anti-skid cooperative control system for a four-axis global vehicle. The smooth trajectory planning and anti-skid cooperative control system comprises a signal input preprocessing module, a reference trajectory planning module and a wheel torque control module, the signal input preprocessing module is used for collecting and preprocessing the control expectation instruction and the vehicle state information to obtain an input signal; the reference trajectory planning module is used for planning an executable reference trajectory in real time according to the input signal in combination with physical constraints of vehicle movement and calculating a tracking reference value according to the executable reference trajectory, and the reference value at least comprises a reference rotating speed and a reference yaw velocity; and the wheel torque control module is used for tracking the reference trajectory, calculating the control torque of each wheel in real time in combination with the dynamic state of vehicle motion, and issuing the control torque to the corresponding wheel. According to the invention, global vehicles can stably run, and the situations of vehicle instability, overturning and collision damage are avoided.

    本发明提供一种四轴全域车辆的平滑轨迹规划与防滑协同控制系统,包括信号输入预处理模块、参考轨迹规划模块和车轮扭矩控制模块;信号输入预处理模块用于对控制期望指令和车辆状态信息进行搜集和预处理,得到输入信号;参考轨迹规划模块用于根据输入信号,结合车辆运动的物理约束,实时规划出可执行的参考轨迹,并根据可执行的参考轨迹,计算出跟踪的参考值,所述参考值至少包括参考转速和参考横摆角速度;车轮扭矩控制模块用于对所述参考轨迹进行跟踪,结合车辆运动动力学状态,实时计算出每个车轮的控制扭矩,并下发给对应的车轮。本发明能够使得全域车辆能够稳定的行驶,避免出现车辆失稳翻车、碰撞损坏的情况。


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    Title :

    Smooth trajectory planning and anti-skid cooperative control system for four-axis global vehicle


    Additional title:

    一种四轴全域车辆的平滑轨迹规划与防滑协同控制系统


    Contributors:
    ZENG DEQUAN (author) / HU YIMING (author) / ZHANG PEIZHI (author) / GAO LETIAN (author) / LENG BO (author) / CHEN QIPING (author) / AI TIANFU (author) / LIANG CHENGCHENG (author) / WU HAO (author)

    Publication date :

    2025-02-28


    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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