Affiliation:
1. School of Vehicles and Energy, Yanshan University, Qinhuangdao 066004, China
Abstract
This paper deals with the integrated control of trajectory tracking and yaw stability for autonomous vehicles. Firstly, a nonlinear vehicle dynamics model is established. The MPC algorithm was used to determine the best front wheel angle. The PID control algorithm is used to ensure the accuracy of longitudinal speed tracking. The sliding mode control algorithm is used to generate additional yaw moment and optimize the distribution of longitudinal tire force. In order to ensure the most effective distribution of the driving torque of the four wheels of the vehicle, the PID algorithm is used to track and manage the longitudinal slip rate of each tire on the bottom layer. Simulation tools such as MATLAB/Simulink and Carsim are used to verify the effectiveness of the multi-closed-loop integrated control technology. Compared with the general control strategy (no slip rate control), the trajectory error of this control algorithm is reduced by 55.6%, which indicates that it has advantages in obtaining a high tracking accuracy and ensuring the stability of autonomous vehicles.
Funder
National Key Research and Development Program
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
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