The invention relates to a vehicle longitudinal motion control method which comprises the following steps of: setting a control quantity as an expected acceleration ades which comprises a proportionallink of a difference value delta d between an expected safe distance between a controlled vehicle and a front vehicle and an actual vehicle distance and a proportional link of a difference value delta v between an expected vehicle speed of the controlled vehicle and an actual vehicle speed; wherein the coefficient of the proportional element of delta d and the coefficient of the proportional element of delta v are respectively expressed as k1 and k2; solving pre-collision time TTC according to the actual vehicle distance and the relative speed Vrel between the controlled vehicle and the frontvehicle; defining a control target of the system as a target function which is the minimum value of an infinite domain integral term, and the integral term comprises a quadratic proportion link of delta d or a quadratic proportion link of delta v and a quadratic proportion link of ads, wherein the coefficients of the quadratic proportion link of delta d, the quadratic proportion link of delta v and the quadratic proportion link of ads are respectively expressed as Q1, Q2 and R; using a fuzzy control method for solving Q2 and R according to Vrel and TTC; and obtaining k1 and k2 by using the Q2and R values.
本发明涉及一种车辆纵向运动控制方法,包括将控制量设定为期望加速度ades,其包括被控车辆与前部车辆的期望安全距离和实际车距的差值Δd的比例环节以及被控车辆的期望车速与实际车速的差值Δv的比例环节,Δd的比例环节的系数和Δv的比例环节的系数分别表示为k1和k2;根据被控车辆与前部车辆的实际车距和相对速度Vrel求出预碰撞时间TTC;将系统的控制目标定义为如下的目标函数,其为如下的无穷域积分项的最小值,积分项包括Δd的二次方的比例环节或Δv的二次方的比例环节及ades的二次方的比例环节,在此,Δd的二次方的比例环节、Δv的二次方的比例环节以及ades的二次方的比例环节的系数分别表示为Q1,Q2以及R;利用模糊控制方法根据Vrel和TTC求出Q2及R;利用Q2及R的值求出k1、k2。
Vehicle longitudinal motion control method and vehicle longitudinal motion control system
车辆纵向运动控制方法及车辆纵向运动控制系统
2020-11-17
Patent
Electronic Resource
Chinese
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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