Control of Distributed Drive Vehicle Path Tracking and Stability

Abstract

Aiming at the tracking effect and vehicle stability in distributed driving vehicle path tracking, this paper proposes a distributed driving vehicle path tracking and stability control method based on hierarchical control theory. The vehicle kinematics model is established, and the upper-layer controller is designed by using the model predictive control method, which aims to reduce the course error and the error of the position during the path tracking process. In the lower-level controller, based on the subdivision of vehicle-road relationships, an evaluation factor C is proposed, and C is used to judge whether the vehicle has a bad attitude. Using fuzzy control theory, four-wheel torque optimal distribution control is carried out on vehicles with bad attitude, which improves the motion stability of vehicle path tracking. Based on CarSim and Simulink, a co-simulation model of distributed driving vehicle path tracking is built and the simulation test is carried out. The simulation results show that the control method proposed in this paper can effectively reduce the tracking error in the process of vehicle path tracking, and can also improve the motion stability of the vehicle.