The invention discloses a vehicle trajectory tracking control system based on parameter uncertainty and yaw stability, which comprises an upper-layer controller and a lower-layer controller, and is characterized in that a three-degree-of-freedom vehicle dynamics model including transverse motion, yaw motion and longitudinal motion is established, the upper-layer controller comprises a transverse path controller and a longitudinal speed tracking controller, and the lower-layer controller comprises a transverse path controller and a longitudinal speed tracking controller; the transverse path controller is used for calculating an expected front wheel steering angle and an expected rear wheel steering angle, the longitudinal speed tracking controller is used for calculating an expected accelerated speed, and the lower-layer controller realizes output of the upper-layer controller through a steering system and a driving device. According to the method, a common low-cost vehicle-mounted sensor is combined with a mathematical model, so that the yaw velocity and the longitudinal velocity of the vehicle are estimated; after yaw stability control is applied to the transverse LQR controller, the path tracking precision is greatly improved, the yaw velocity and the side slip angle are greatly reduced, and the riding comfort of a driver is improved to a certain extent.
本发明公开了一种基于参数不确定性和横摆稳定性的车辆轨迹跟踪控制系统,包括上层控制器和下层控制器,建立包括横向运动、横摆运动和纵向运动的三自由度车辆动力学模型,上层控制器包括横向路径控制器和纵向速度跟踪控制器,横向路径控制器用于计算期望前轮转角和期望后轮转角,纵向速度跟踪控制器用于计算期望加速度,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。本发明将常用的低成本车载传感器与数学模型进行结合,从而估计得到车辆横摆角速度和纵向速度;在横向LQR控制器中施加横摆稳定性控制以后,路径跟踪精度极大提高,横摆角速度和质心侧偏角大幅度降低,一定程度改善了驾驶员的乘坐舒适性。
Vehicle trajectory tracking control system based on parameter uncertainty and yaw stability
基于参数不确定性和横摆稳定性的车辆轨迹跟踪控制系统
2023-08-08
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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