The invention discloses a novel path tracking and yaw stability chassis integrated redundancy control method, relates to the technical field of driverless racing car path tracking control algorithms, and aims at solving the problems that an MPC algorithm of an existing nonlinear dynamic model is large in computing resource consumption and difficult to meet the real-time requirement of the algorithm. Comprising the steps that 1, an upper-layer model is used for predicting a path tracking control algorithm, and a prediction model of the model prediction algorithm is a five-degree-of-freedom particle nonlinear vehicle dynamics model; 2, designing a bottom chassis optimization control strategy; 2-1, in the first layer controller, the longitudinal tire force of each wheel and the steering angles of front and rear wheels are optimally distributed; and step 2-2, in the second layer controller, distributing the ideal longitudinal tire force of each wheel to a specific independent motor torque or a brake torque of a hydraulic brake through a distribution strategy based on a simple distribution rule.

    本发明公开了一种新型路径追踪与横摆稳定性底盘集成冗余控制方法,涉及无人驾驶赛车路径追踪控制算法技术领域,为解决现有的非线性动力学模型的MPC算法计算资源消耗大以及难以满足算法的实时性要求的问题。包括步骤1、利用上层模型预测路径追踪控制算法,模型预测算法的预测模型为5自由度质点非线性车辆动力学模型;步骤2、底层底盘优化控制策略设计;步骤2‑1、在第一层控制器中,优化分配具体每个车轮的纵向轮胎力以及前后轮转向角;步骤2‑2、在第二层控制器中,每个车轮的理想纵向轮胎力通过基于简单分配规则的分配策略分配到具体独立电机扭矩或者液压制动器的刹车扭矩。


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    Title :

    Novel path tracking and yaw stability chassis integrated redundancy control method


    Additional title:

    一种新型路径追踪与横摆稳定性底盘集成冗余控制方法


    Contributors:
    LI BOYUAN (author)

    Publication date :

    2022-07-29


    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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