The invention discloses an intelligent driving vehicle transverse control method. The method comprises the steps of: establishing a transverse control feedforward control system model, a feedback control system model, a feedforward control torque calibration simulation model and a feedback control torque calibration simulation model; performing first parameter adjustment on the feedforward controltorque calibration simulation model and the feedback control torque calibration simulation model; performing real vehicle verification on feedforward control and feedback control torque calibration simulation model parameters obtained by first parameter adjustment; changing different expected working conditions to repeatedly execute the verification steps, calibrating parameters of the feedforward control and feedback control torque calibration simulation model under different expected working conditions, and obtaining optimal parameters of the feedforward control and feedback control torquecalibration simulation model; and performing parameter optimization on the feedforward control torque calibration simulation model and the feedback control torque calibration simulation model by usingthe optimal parameters, and performing simulation debugging on the remaining uncalibrated parameters to obtain all calibration parameters. The invention further discloses an intelligent driving vehicle transverse control system.
本发明公开了一种智能驾驶车辆横向控制方法,包括:建立横向控制前馈控制系统模型、后馈控制系统模型、前馈控制转矩标定仿真模型和后馈控制转矩标定仿真模型;对前馈控制和后馈控制转矩标定仿真模型进行首次调参;对首次调参获得的前馈控制和后馈控制转矩标定仿真模型参数进行实车验证;变换不同的期望工况反复执行上述验证步骤,对不同期望工况下的前馈控制和后馈控制转矩标定仿真模型参数进行标定,获得前馈控制和后馈控制转矩标定仿真模型最优参数;利用最优参数对前馈控制转矩标定仿真模型和后馈控制转矩标定仿真模型进行参数优化,并对剩余未标定参数进行仿真调试,获得全部标定参数。本发明还公开了一种智能驾驶车辆横向控制系统。
Intelligent driving vehicle transverse control method and control system
智能驾驶车辆横向控制方法及控制系统
08.05.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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