The invention discloses an intelligent vehicle trajectory tracking hybrid control method, comprising an NMPC controller and an LEMPC controller, calculating a transverse error and a transverse error change rate, and selecting a corresponding control mode according to the transverse error and the transverse error change rate; wherein in the switching control process of the NMPC controller and the LEMPC controller, a smooth switching function is introduced, weighted calculation is carried out on expected front wheel rotation angles output by the NMPC controller and the LEMPC controller, and the output amplitude of the expected front wheel rotation angles is restrained until the switching is finished, so that smooth switching is realized. The transverse control requirement of the intelligent vehicle under the complex working condition can be met, and the trajectory tracking control performance is improved.

    本发明公开了一种智能车辆轨迹跟踪混合控制方法,包括NMPC控制器和LEMPC控制器,计算横向误差以及横向误差变化率,根据横向误差以及横向误差变化率的大小选择相应的控制模式;其中,在NMPC控制器和LEMPC控制器切换控制的过程中,引入平滑切换函数,对NMPC控制器和LEMPC控制器输出的期望前轮转角进行加权计算,约束期望前轮转角的输出幅值,直至切换结束,从而实现平滑切换。本发明能够满足复杂工况下智能车辆的横向控制需求,并提升轨迹跟踪控制性能。


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    Title :

    Intelligent vehicle trajectory tracking hybrid control method


    Additional title:

    一种智能车辆轨迹跟踪混合控制方法


    Contributors:
    LI QIANG (author) / SHEN JIAJU (author) / ZHANG XINWEN (author) / ZHOU YANG (author) / WU JINYUN (author)

    Publication date :

    2025-04-25


    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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