The invention discloses an automatic driving semi-trailer truck transverse trajectory tracking self-adaptive control method, which comprises a vehicle parameter self-adaptive calculation module, a vertical load distribution module, a tire side skewness rigidity calculation module, a weight coefficient self-adaptive adjustment module, an LQR controller solving module and a control output constraint module. According to the method, mass center position changes, rotational inertia changes, vertical load changes and tire cornering stiffness changes of a tractor and a trailer caused by trailer load changes, adaptive adjustment of weight coefficients at different vehicle speeds, control output fluctuation caused by positioning jump and signal noise and roll safety are considered; the accuracy of the semi-trailer dynamic model is improved; restraint processing is carried out on feedback control output, oscillation or overshoot caused by positioning jump and signal noise is solved, smoothness and stability of vehicle control are guaranteed, a new thought is provided for motion control of an automatic driving semi-trailer truck, and the method has important value for design and optimization of an overall framework of an automatic driving platform.
本发明公开一种自动驾驶半挂卡车横向轨迹跟踪自适应控制方法,包括车辆参数自适应计算模块、垂向载荷分配模块、轮胎侧偏度刚度计算模块、权重系数自适应调整模块、LQR控制器求解模块和控制输出约束模块,该方法考虑了挂车载荷变化引起的牵引车与挂车的质心位置变化、转动惯量变化、垂向载荷变化、轮胎侧偏刚度变化,不同车速下权重系数的自适应调整,定位跳变和信号噪声引起的控制输出波动以及侧倾安全,提高了半挂车辆动力学模型的准确性;对反馈控制输出进行约束处理,解决定位跳变和信号噪声导致的震荡或超调,保证车辆控制的平滑性和稳定性,为自动驾驶半挂卡车的运动控制提供新思路,对自动驾驶平台整体架构的设计与优化具有重要价值。
Self-adaptive control method for transverse trajectory tracking of automatic driving semi-trailer truck
一种自动驾驶半挂卡车横向轨迹跟踪自适应控制方法
2023-02-03
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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