Intelligent automobile trace tracking control system and method based on active safety

Abstract

The invention discloses an intelligent automobile trace tracking control system and method based on active safety, and belongs to the field of intelligent automobile automatic driving. The control system comprises a trace tracking control unit based on model predictive control and a steer-by-wire unit with the active safety function; the trace tracking control unit can obtain the accurate position of an automobile and the steering angle of a steering wheel in real time, so that the attitude information of the automobile is obtained; the target front wheel steering angle of the automobile is calculated by combination with the target trace parameters, and the steer-by-wire unit achieves accurate control over a steering execution motor according to the target front wheel steering angle; and at the same time, the possible rollover risk of the automobile is predicted, active front wheel steering angle compensation control is conducted, and finally the trace tracking control over the automobile is achieved. By combination with a model predictive control theory and a steer-by-wire technology based on active safety, reliability of the intelligent automobile is ensured, and trace tracking control over the intelligent automobile during high-speed driving is achieved.

Description

A smart vehicle trajectory tracking control system and control method based on active safety technical field The invention belongs to the field of intelligent vehicle automatic driving, and in particular relates to an active safety-based intelligent vehicle track tracking control system and control method. Background technique The intelligence of the car is mainly reflected in the replacement of manual operation by automatic driving. The behavior and running state of the car can be controlled and predictable, which not only reduces the driver's operating intensity, but also reduces the incidence of traffic accidents. According to real-time road condition information, the travel route is planned. Make vehicles run efficiently on the road, and finally realize "zero casualties and zero congestion" in road traffic. Therefore, smart cars are safe, efficient, and energy-saving next-generation cars. The study of smart cars is of great significance and has become the focus of the ...

AI Technical Summary

Problems solved by technology

In the existing technology, there are the following technical problems: (1) most of the devices have high cost; (2) most of them are only for simple simulation research, without considering the safety issues of the real actuator operation; (3) smart cars The steering conditions are complex and changeable, and the steering control of the car has high requirements for the control of each working condition. The traditional control strategy cannot meet the stability and safety of the vehicle under high-speed driving conditions.

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