Trajectory Tracking Coordinated Control of 4WID-4WIS Electric Vehicle Considering Energy Consumption Economy Based on Pose Sensors

Abstract

In order to improve the stability and economy of 4WID-4WIS (four-wheel independent drive—four-wheel independent steering) electric vehicles in trajectory tracking, this paper proposes a trajectory tracking coordinated control strategy considering energy consumption economy. First, a hierarchical chassis coordinated control architecture is designed, which includes target planning layer, and coordinated control layer. Then, the trajectory tracking control is decoupled based on the decentralized control structure. Expert PID and Model Predictive Control (MPC) are employed to realize longitudinal velocity tracking and lateral path tracking, respectively, which calculate generalized forces and moments. In addition, with the objective of optimal overall efficiency, the optimal torque distribution for each wheel is achieved using the Mutant Particle Swarm Optimization (MPSO) algorithm. Additionally, the modified Ackermann theory is used to distribute wheel angles. Finally, the control strategy is simulated and verified using Simulink. Comparing the control results of the average distribution strategy and the wheel load distribution strategy, it can be concluded that the proposed coordinated control not only provides good trajectory tracking but also greatly improves the overall efficiency of the motor operating points, which enhances the energy economy and realizes the multi-objective coordinated control of the chassis.