The invention discloses a model predictive control trajectory tracking method considering a tire sideslip angle, and relates to the field of control theories and control engineering. Firstly, a target speed and a front wheel turning angle are obtained through an MPC tracking method, a relational expression of the front wheel turning angle and a tire sideslip angle is obtained through formula derivation, a new front wheel turning angle can be obtained by combining the target front wheel turning angle with the relational expression, and finally the new front wheel turning angle and the target speed are used for driving a vehicle to move. The trajectory tracking method has the advantages that the problem that the vehicle control precision is not enough due to the tire sideslip angle caused by the rubber tire can be effectively solved through the trajectory tracking method, so that the control accuracy of the automatic driving vehicle is greatly improved, and the trajectory tracking method is suitable for being applied to the automatic driving vehicle to track a globally planned path.
一种考虑轮胎侧滑角的模型预测控制的轨迹跟踪方法,它涉及控制理论与控制工程领域。首先通过MPC跟踪方法获得一个目标速度和前轮转角,通过公式推导得到前轮转角和轮胎侧滑角的关系式,将目标前轮转角结合该关系式可以得到一个新的前轮转角,最后用新的前轮转角和目标速度去驱动车辆的运动。本发明有益效果为:通过本轨迹跟踪方法,能够有效解决了由于橡胶轮胎导致的轮胎侧滑角使得车辆控制精度不够的问题,从而大大增强自动驾驶车辆的控制准确性,适合运用于自动驾驶车辆跟踪一条全局规划的路径。
Tire sideslip angle-considered model predictive control trajectory tracking method
一种考虑轮胎侧滑角的模型预测控制的轨迹跟踪方法
2024-06-04
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 |
British Library Online Contents | 2009
|Vehicle Sideslip Angle Estimation Considering the Tire Pneumatic Trail Variation
SAE Technical Papers | 2018
|Vehicle Sideslip Angle Estimation Considering the Tire Pneumatic Trail Variation
British Library Conference Proceedings | 2018
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