To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual-motor-driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%.

中文翻译：

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基于最优控制理论和模糊逻辑方法的双电机驱动无人赛车实时轨迹跟踪控制

为了提高无人赛车运动过程中轨迹跟踪控制的准确性和及时性，提出了一种基于最优控制理论和模糊逻辑方法的后轮差速驱动与前轮主动转向相结合的轨迹跟踪控制方法。 。建立了赛车横向轨迹跟踪误差的模型。该模型被线性化和离散化，并构造了二次最优转向控制问题。利用双电机赛车的差动驱动，设计了双电机差动模糊控制器，并将其与主动转向控制集成在一起。