A control system (130, 140) for autonomous driving of a heavy vehicle (100), the control system comprising an autonomous driving AD controller (270) configured with a trajectory tracking function (271) arranged to track a desired vehicle trajectory and a first vehicle model (272) arranged to model a response of the vehicle (100) to a requested steering angle, wherein the AD controller (270) is arranged to generate a steering angle request (275) based on the desired vehicle trajectory and the first vehicle model (272), the control system (130, 140) further comprising a vehicle motion management (VMM) function (260) arranged to receive the steering angle request (272) from the AD controller (270), wherein the VMM function (260) comprises a second vehicle model (261) configured to align with the first vehicle model (272), and wherein the VMM function (260) is arranged to obtain a desired vehicle behavior based on a response of the second vehicle model (261) to the steering angle request (275), wherein the VMM function (260) is arranged to determine a motion support device control setpoint (265) as a function of the desired vehicle behavior.
一种用于重型车辆(100)的自主驾驶的控制系统(130、140),所述控制系统包括自主驾驶AD控制器(270),所述AD控制器配置有被布置为跟踪期望的车辆轨迹的轨迹跟踪功能(271)以及被布置为对所述车辆(100)对请求的转向角的响应进行建模的第一车辆模型(272),其中所述AD控制器(270)被布置为基于所述期望的车辆轨迹和所述第一车辆模型(272)来生成转向角请求(275),所述控制系统(130、140)还包括被布置为接收来自所述AD控制器(270)的所述转向角请求(272)的车辆运动管理VMM功能(260),其中所述VMM功能(260)包括被配置为与所述第一车辆模型(272)对准的第二车辆模型(261),其中所述VMM功能(260)被布置为基于所述第二车辆模型(261)对所述转向角请求(275)的响应来获得期望的车辆行为,其中所述VMM功能(260)被布置为根据所述期望的车辆行为来确定运动支持装置控制设定点(265)。
Vehicle control for simplified autonomous driving
用于简化的自主驾驶的车辆控制
2024-04-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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