The invention relates to a special vehicle speed self-adaptive control method based on ruggedness quantification, and belongs to the field of automatic driving. The invention aims to provide a special vehicle speed self-adaptive control method based on roughness quantification in order to improve the operation stability and riding comfort of an automatic driving vehicle. The invention provides a terrain roughness quantification method by analyzing amplitude-frequency characteristics and power spectrum density after time-frequency transformation of terrain features. On the basis, a continuous mathematical model between the rugged degree and the vehicle speed is established through an iterative search method, so that self-adaptive control over the vehicle speed is achieved, and the stable driving capacity of the vehicle under the rugged terrain is greatly improved.
本发明涉及一种基于崎岖度量化的特种车辆速度自适应控制方法,属于自动驾驶领域。本发明的目的是为了提高自动驾驶车辆作业的稳定性和乘车舒适度,提供一种基于崎岖度量化的特种车辆速度自适应控制方法。本发明通过分析地形特征进行时频变换后的幅频特性以及功率谱密度,提供一种地形崎岖度量化方法。在此基础上,通过迭代搜索的方法建立了崎岖度和车速之间的连续数学模型,从而实现了车速的自适应控制,大大提高车辆在崎岖地形下的平稳行驶能力。
Special vehicle speed self-adaptive control method based on rugged degree quantification
一种基于崎岖度量化的特种车辆速度自适应控制方法
08.12.2023
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 |