Study On Layout Parameters Optimization And Trajectory Tracking Control Of Driverless Vehicle Based On Inverse Dynamics

In military area,the unmanned ground vehicles have advantages of concealment,preventing soldiers from high-risk tasks and so on,and it make them practical and competitive in the battlefield.In civilian areas,the autonomous vehicles and their derived active safety technologies can reduce the occurrence of traffic accidents and ensure the safety of life and property.Path tracing control is an important part in the driverless vehicle technology,which impacts the dusk conducting directly.Among the studies of the control strategy of path tracking,related scholars generally base on an artificial driverless vehicle converted by a manned vehicle to carry out the research on dynamic control.Therefore,their research results have been confined to the dynamics of the traditional vehicle,and seldom researchers pay attention to the key problem of dynamic concerns and layout design of driverless vehicle.In this paper,in order to get rid of the traditional vehicle dynamics theory,the method using inverse dynamics model for driverless vehicle dynamic control has been proposed.The key point is establishing the inverse dynamic model to discuss general layout characteristics of driverless vehicle,and based on this model to control the vehicle tracking the expected trajectory.At first,the evaluation standard of driverless vehicle dynamics performance was proposed,and 2 DOF linear inverse dynamic model was established.Based on the model,the poles and the characteristic parameters was obtained.And the real part of the poles indicates that the model is always stable and well damped,and the imaginary part indicates that routine path-following tasks require only low frequency steer angles.Then from the perspective of characteristic parameters,the dynamic behavior change when the condition changes and the overall layout parameters was obtained,and the general method of layout design was established.Next,the steer angle control law was calculated through the inverse dynamic model,and based on it the vehicle tracked the expected trajectory.Finally,the environment virtual simulation platform and the test vehicle was developed.On the basis of enough simulation and real vehicle experiments,the theoretical results in this paper was validated.