The invention provides a vehicle trajectory tracking method based on yaw stability control, which comprises a yaw stability control module, a longitudinal speed control module, a torque distribution control module and a self-adaptive trajectory tracking control module, the longitudinal speed control module outputs a total expected torque to the torque distribution module, the torque distribution module outputs four torques to the motor through distribution, the motor outputs an actual torque to the vehicle control unit, the vehicle control unit outputs an expected track and vehicle dynamics parameters to the self-adaptive path tracking control module, and the self-adaptive path tracking control module outputs the vehicle dynamics parameters to the self-adaptive path tracking control module. And the vehicle kinetic parameters are transmitted to the yaw stability control module and the torque distribution control module, and finally, the self-adaptive path tracking control module outputs an expected front wheel steering angle to the whole vehicle controller. According to the method, the adaptive trajectory tracking control method and the yaw stability are considered, so that trajectory tracking can be more accurately and stably carried out.
本发明提供一种基于横摆稳定性控制的车辆轨迹跟踪方法,包括横摆稳定控制模块,纵向速度控制模块,转矩分配控制模块,自适应轨迹跟踪控制模块,其中横摆稳定控制模块输出附加横摆力矩给转矩分配控制模块,纵向速度控制模块输出总的期望转矩给转矩分配模块,转矩分配模块经过分配输出四个转矩给到电机,电机输出实际的转矩给到整车控制器,整车控制器输出期望轨迹和车辆动力学参数给自适应路径跟踪控制模块,还将车辆动力学参数给横摆稳定控制模块以及转矩分配控制模块,最后,自适应路径跟踪控制模块输出期望前轮转角给到整车控制器。本申请考虑自适应轨迹跟踪控制方法以及横摆稳定性,使其在轨迹跟踪时能够更准确更平稳的进行。
Vehicle trajectory tracking control method based on yaw stability control
一种基于横摆稳定性控制的车辆轨迹跟踪控制方法
2024-09-03
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 |
Vehicle trajectory tracking and stability coordination control method considering roll
European Patent Office | 2024
|Vehicle trajectory tracking and stability cooperative control method and device
European Patent Office | 2023
|Unmanned vehicle trajectory tracking and yaw stability control method and system
European Patent Office | 2023
|Vehicle trajectory tracking control system based on parameter uncertainty and yaw stability
European Patent Office | 2023
|