无人驾驶电动赛车线控制动策略开发

Development of Brake-by-Wrie Strategy of Autonomous Electric Racing Car

针对无人驾驶方程式赛车无人状态下的控制策略问题,提出了一种基于增量式PID的线控制动控制策略。通过采集赛车无人驾驶状态下的当前车速、目标制动压力和目标制动踏板位移量,使用增量式PID控制算法进行制动压力控制,使赛车减速到目标车速。使用MATLAB/Simulink仿真验证,结果表明在赛车减速时,基于增量式PID的线控制动控制策略能有效的控制制动压力,使赛车跟踪上目标车速。

Aiming at the problem of the unmanned control strategy of the unmanned formula car,a brake-by-wire control strategy based on incremental PID is proposed.By collecting the current vehicle speed,target brake pressure and target brake pedal displacement in the unmanned state of the racing car,incremental PID control algorithm is used for brake pressure control to slow down the car to the target speed.MATLAB/Simulink simulation verification used,the results show that when the car is decelerating,the brake-by-wire control strategy based on incremental PID can effectively control the brake pressure,so that the car can track the target speed.