The invention discloses a vehicle trajectory tracking control system based on parameter uncertainty and tire dynamics constraint, which comprises an upper-layer controller and a lower-layer controller, and is characterized in that the upper-layer controller comprises a tire lateral force estimator and a trajectory tracking controller based on model predictive control; the tire lateral force estimator is used for calculating tire lateral force, the tire lateral force, the vehicle state and the reference trajectory are input into the trajectory tracking controller to calculate the expected front wheel steering angle and the expected longitudinal acceleration, and the lower-layer controller achieves output of the upper-layer controller through the steering system and the driving device. After the MPC is used in trajectory tracking control, the trajectory tracking precision is greatly improved, and the peak value of a transverse tracking error is reduced by 70%; the tire lateral force estimated based on the RBF neural network can meet the requirements of actual driving conditions; after the vehicle uses slippage constraint, the slippage phenomenon can be effectively reduced, and the operation stability of the vehicle is improved.
本发明公开了一种一种基于参数不确定性和轮胎动力学约束的车辆轨迹跟踪控制系统,包括上层控制器和下层控制器,其特征在于:上层控制器包括轮胎侧向力估计器和基于模型预测控制的轨迹跟踪控制器,轮胎侧向力估计器用于计算轮胎侧向力,将轮胎侧向力、车辆状态和参考轨迹输入至轨迹跟踪控制器计算期望前轮转角和期望纵向加速度,下层控制器通过转向系统和驱动装置实现上层控制器的输出。本发明在轨迹跟踪控制中使用MPC控制器之后,轨迹跟踪精度得到极大提高,横向跟踪误差的峰值降低了70%;基于RBF神经网络估计的轮胎侧向力可以满足实际驾驶条件的需要;当车辆使用滑移约束后,可以有效减少滑移现象,提高车辆的操纵稳定性。
Vehicle trajectory tracking control system based on parameter uncertainty and tire dynamics constraint
基于参数不确定性和轮胎动力学约束的车辆轨迹跟踪控制系统
14.03.2025
Patent
Elektronische Ressource
Chinesisch
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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