The invention relates to the technical field of auxiliary driving, in particular to a front-wheel steering and rear-wheel distributed driving vehicle path tracking method. The method comprises the following steps: S1, establishing a nonlinear vehicle dynamics model of front-wheel steering and rear-wheel distributed driving; s2, establishing a path tracking task constraint; s3, designing an adaptive robust controller based on task constraints; s4, based on Lyapunov analysis, stability and constraint following error performance of the adaptive robust controller are analyzed; and S5, using the controller in the step S3 to control the vehicle to perform path tracking. According to the path tracking control algorithm provided by the invention, a model which better conforms to the actual dynamic characteristics of the vehicle is established, and the condition of relatively large initial tracking deviation is considered and processed, so that the control stability of the vehicle under the influence of uncertain factors and relatively large initial tracking deviation can be improved, and a tracking error sample is limited in a specified area.
本发明涉及辅助驾驶技术领域,特别是涉及一种前轮转向后轮分布式驱动车辆路径跟踪方法。其包括S1、建立前轮转向后轮分布式驱动的非线性车辆动力学模型;S2、建立路径跟踪任务约束;S3、基于任务约束设计自适应鲁棒控制器;S4、基于李雅普诺夫分析自适应鲁棒控制器的稳定性以及约束跟随误差性能;S5、使用步骤S3中的控制器控制车辆进行路径跟踪。本发明所提出的路径跟踪控制算法建立了更加符合车辆实际动力学特征的模型,并考虑和处理了较大初始跟踪偏差的情况,能提升车辆在受不确定因素和较大初始跟踪偏差影响下的控制稳定性,将跟踪误差样限制在规定区域内。
Path tracking method and system for front-wheel steering and rear-wheel distributed driving vehicle
一种前轮转向后轮分布式驱动车辆路径跟踪方法及系统
2025-03-18
Patent
Electronic Resource
Chinese