Research On Trajectory Tracking Control Of Distributed Drive Intelligent Electric Vehicle Based On Multi-point Preview

As an effective technical means to solve traffic safety and improve travel mode,intelligent driving has attracted wide attention.The research on the key technologies of self-driving has become an important strategic layout of the National 14 th five-year Plan.As one of the core technologies of intelligent driving,trajectory tracking control directly affects many performance indexes of vehicles.The four wheels of distributed drive electric vehicle are independently controllable,and its redundant control characteristics can effectively solve the control problems such as strong coupling,nonlinear and panrandom in vehicle trajectory tracking control.In this paper,the distributed drive intelligent electric vehicle is taken as the research object.in order to solve the problem of accurate trajectory tracking and stable driving under complex operating conditions,the trajectory tracking control of distributed drive intelligent electric vehicle is studied as follows:(1)The simulation platform of distributed drive intelligent electric vehicle is built.According to the structural characteristics of distributed drive electric vehicle,the simulation model of distributed drive electric vehicle is established by using MATLAB/Car Sim.Based on the Car Sim vehicle model,the power system and chassis structure are modified,and the vehicle parameters are modified according to the structural characteristics of the hub motor.The hub motor model is established in MATLAB/Simulink,and the driving force of the hub motor is used as the power source of Car Sim in the form of external input,and then a joint simulation model is built.The simulation results show that the distributed drive electric vehicle model has good accuracy.(2)Research on lateral trajectory tracking control of smart electric vehicles based on multi-point preview.Combining the characteristics of model predictive control with multi-constraint optimization and the robustness of preview control,an active steering control strategy for intelligent vehicle trajectory tracking is designed.Based on the linear decoupling of the trajectory tracking system,a preview error model is established to design the objective function with accuracy and stability in the tracking process,and the model predictive controller is designed to plan the optimal front wheel angle in real time under multiple constraints.Design a multi-point preview model with adaptive preview distance to fully obtain forward trajectory information and improve the robustness of lateral motion control to speed.The simulation shows that the lateral motion controller can effectively ensure the driving stability while ensuring the tracking accuracy.(3)Research on the trajectory tracking control of the distributed intelligent electric vehicle longitudinally and longitudinally.The acceleration controller is designed based on the optimal control theory,and the stable tracking of the speed is achieved by solving the desired driving force,which ensures the dynamics of the trajectory tracking;the phase plane method is used to analyze the stability characteristics of the vehicle under different driving conditions,and the design additional The yaw moment controller improves the driving stability of the vehicle under extreme conditions such as low adhesion.The trajectory tracking control simulation platform of the distributed driving intelligent electric vehicle is established.The simulation shows that the trajectory tracking controller shows good tracking effects under different working conditions.