The invention discloses an articulated vehicle trajectory tracking control method and system and a vehicle, and belongs to the technical field of articulated vehicle intelligent driving control, and the method comprises the steps: obtaining basic parameters and real-time state parameter data of an articulated vehicle, and setting a linear tire cornering stiffness initial value; constructing a linear three-degree-of-freedom dynamical model of the articulated vehicle, and constructing a trajectory tracking controller which comprises a tire cornering stiffness estimator based on a forgetting factor recursive least square method and a linear time-varying model prediction controller fused with trailer state influence; inputting the real-time acquired data and the linear tire cornering stiffness initial value into a trajectory tracking controller, and estimating and updating the cornering stiffness value at the current moment through a tire cornering stiffness estimator; and according to the updated cornering stiffness value and the real-time acquired data, the linear time-varying model prediction controller solves and outputs the optimal front wheel steering angle at the current moment according to the reference trajectory and considering the influence of the trailer state. Accurate control of trajectory tracking of the articulated vehicle can be realized.

    本发明公开了一种铰接车辆轨迹跟踪控制方法、系统及车辆,属于铰接车辆智能驾驶控制技术领域,包括:获取铰接车辆的基本参数和实时状态参数数据,并设定线性轮胎侧偏刚度初值;构建铰接车辆线性三自由度动力学模型,并构建轨迹跟踪控制器,包括基于遗忘因子递推最小二乘法的轮胎侧偏刚度估计器,以及融合拖车状态影响的线性时变模型预测控制器;将实时获取数据及线性轮胎侧偏刚度初值输入至轨迹跟踪控制器,经轮胎侧偏刚度估计器估计并更新当前时刻的侧偏刚度值;根据更新的侧偏刚度值和实时获取数据,线性时变模型预测控制器依据参考轨迹并考虑拖车状态影响,求解并输出当前时刻的最优前轮转角。本发明可实现铰接车辆轨迹跟踪的精确控制。


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    Title :

    Articulated vehicle trajectory tracking control method and system and vehicle


    Additional title:

    一种铰接车辆轨迹跟踪控制方法、系统及车辆


    Contributors:
    DENG SI (author) / CHEN JIAJIA (author) / KO YOUNG-KI (author)

    Publication date :

    2025-03-21


    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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