In order to improve the accuracy and stability of the driverless electric formula car in the horizontal and vertical control at the same time, this paper proposes a horizontal and vertical coordinated control method for comprehensive analysis of multiple working conditions. First, design a lateral controller based on model predictive control theory, set the optimization objective function, solve multiple constraint conditions to get the real-time front wheel angle. Secondly, design longitudinal controller based on fuzzy PI, solve the real-time longitudinal driving torque according to the vehicle speed error, Finally, analyze the various operating conditions of the car and develop a coordinated control rate, to coupling control between horizontal control and vertical control, and complete coordination control between horizontal and vertical. The simulation analysis results show: The control effect of the coordination method of the driverless electric formula car is better than that of the horizontal and longitudinal independent control, and at the same time, it improves the accuracy and stability of the tracking control on the reference path.
Driverless Electric Formula Car Horizontal and Vertical Coordinated Control Method
Lect. Notes Electrical Eng.
2022-01-13
25 pages
Article/Chapter (Book)
Electronic Resource
English
Driverless Electric Formula Car Horizontal and Vertical Coordinated Control Method
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