The invention provides a self-adaptive parameter adjusting method for transverse control of intelligent driving, which comprises the following steps of: S1, estimating the mass m of a whole vehicle according to a vehicle dynamic balance equation in combination with vehicle speed information and parameter information of the whole vehicle, and calculating tire loads of a front axle and a rear axle; s2, obtaining a cornering force-slip angle curve and data under different tire loads according to vehicle parameters, and calculating cornering rigidities Cr and Cf under the current load by combining the tire loads of a front axle and a rear axle; s3, the whole vehicle mass and the cornering stiffness parameters are transmitted to an intelligent driving transverse control algorithm, an LQR state matrix is updated, and a static gain matrix K is calculated; and S4, the feedback control quantity u1 and the feed-forward control quantity u2 of the front wheel turning angle of the vehicle under the current tire load and the current cornering stiffness are calculated, and the control quantity u of the front wheel turning angle is calculated.
本发明提供了一种智能驾驶横向控制的自适应调参方法,包括:步骤S1,根据车辆动力学平衡方程,结合车速信息和车辆整车参数信息,估算整车质量m,并计算前轴和后轴的轮胎载荷;步骤S2,根据车辆整车参数得到不同轮胎载荷下的侧偏力‑侧偏角曲线及数据,结合前轴和后轴的轮胎载荷计算出当前载荷下的侧偏刚度Cr、Cf;步骤S3,将整车质量和侧偏刚度参数传递给智能驾驶横向控制算法中,更新LQR状态矩阵,计算出静态增益矩阵K;步骤S4,计算出车辆在当前轮胎载荷和侧偏刚度下的前轮转角的反馈控制量u1和前馈控制量u2,计算出前轮转角的控制量u。
Self-adaptive parameter adjusting method for intelligent driving transverse control
智能驾驶横向控制的自适应调参方法
2023-05-26
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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