The embodiment of the invention provides a vehicle transverse and longitudinal layered cooperative control method, system and device and a storage medium, and belongs to the technical field of vehicle control. According to the method, on the basis of a zero-centroid side slip angle strategy, an expected driving state quantity is determined according to an actual state quantity and an expected track, the expected driving state quantity comprises reference rotation angles of all axes, the zero-centroid side slip angle strategy is that the rotation angles of all the axes have a preset proportional relation, and then longitudinal and transverse cooperative control is conducted according to the expected driving state quantity. Global longitudinal generalized force, global generalized lateral force and global generalized yawing moment are obtained, optimal distribution of tire force is carried out on all the moments to obtain tire force of all wheels, and the tire force of all the wheels is converted into a driving space to obtain wheel rotation angles and motor torque of all the wheels of the bottom-layer driving vehicle. According to the invention, tracking control can be flexibly carried out on the vehicle, and the trajectory tracking precision and attitude stability of the vehicle in a complex environment are improved.
本申请实施例提供了一种车辆横纵向分层协同控制方法、系统、设备及存储介质,属于车辆控制技术领域。该方法基于零质心侧偏角策略,根据实际状态量和期望轨迹确定期望行驶状态量,其包括各轴参考转角,零质心侧偏角策略为各轴的转角存在预设的比例关系,然后根据期望行驶状态量进行纵横向协同控制,得到全局纵向广义力、全局广义侧向力和全局广义横摆力矩,再各力矩进行轮胎力最优分配得到各车轮的轮胎力,将各车轮的轮胎力转换到驱动空间得到用于底层驱动车辆的各车轮的车轮转角和电机转矩。本申请能够灵活对车辆进行跟踪控制,提高车辆在复杂环境下的轨迹跟踪精度和姿态稳定性。
Vehicle transverse and longitudinal layered cooperative control method, system and equipment and storage medium
车辆横纵向分层协同控制方法、系统、设备及存储介质
2025-03-07
Patent
Electronic Resource
Chinese
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