无人驾驶电动赛车线控制动控制研究

Research on Control Control of Autonomous Electric Racing Line

为了提高无人驾驶电动赛车制动的稳定性与可靠性,提出一种串联式线控制动方案。通过调整开关电磁阀选择赛车处于有人或无人的状态,在获取赛车最大减速度、平均减速度以及制动系统压强之后,通过增量式PID控制算法控制各个制动轮缸的制动压力,从而控制赛车车速,保证赛车在行驶安全的前提下按照预设路径稳定行驶。

In order to improve the stability and reliability of the driverless electric racing brake,a series line control scheme is proposed.By adjusting the switch solenoid valve to select the state of the car in the presence of no one or no one,after obtaining the maximum deceleration,average deceleration and brake system pressure of the car,the brake pressure of each wheel cylinder is controlled by an incremental PID control algorithm.In this way,the speed of the racing car is controlled,and the car is stably driven according to the preset path under the premise of safe driving.