Research on Intelligent Vehicle Trajectory Tracking Control Based on Cooperative Steering
The research focuses on distributed drive intelligent vehicles and addresses the issues of relia-bility and safety in trajectory tracking.A cooperative steering control method,which combines autonomous steering with differential steering,is proposed.The method utilizes a layered control architecture,where the upper trajectory tracking controller adjusts the prediction time domain of the model predictive control-ler based on changes in the vehicle′s speed.It determines the ideal front wheel angle and enables autono-mous steering control.Additionally,the differential steering control for distributed drive vehicles is de-signed based on the linear quadratic optimal control method.The lower layer controller employs a dynamic distribution method to effectively allocate torque across the vehicle.Finally,simulation and validation are conducted using relevant software to assess the performance of autonomous steering trajectory tracking control,cooperative steering trajectory tracking control,and trajectory tracking fault-tolerant control.The simulation results demonstrate that cooperative steering trajectory tracking control exhibits higher accuracy in trajectory tracking compared to autonomous steering trajectory tracking control.Furthermore,the sys-tem is capable of achieving trajectory tracking even in the event of autonomous steering failure.
intelligent vehicletrajectory trackingcooperative steeringmodel predictive control
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维普
