A controller and a method for controlling motion of a vehicle are provided. The method comprises the following steps: acquiring motion information including a current state of a vehicle and an expected state of the vehicle; determining a combination of a steering angle of a wheel and a motor force for moving the vehicle from a current state to a desired state by using a first model of motion of the vehicle and a second model of motion of a chassis of the vehicle; determining a cost function of the motion of the vehicle; optimizing a cost function of motion of the vehicle to calculate command signals for controlling the steering wheel and the plurality of motors; and controlling a motor force and a steering angle of the wheel based on the command signal.
提供了一种用于控制车辆的运动的控制器和方法。该方法包括以下步骤:获取包括车辆的当前状态和车辆的期望状态的运动信息;通过使用车辆的运动的第一模型以及车辆的底盘的运动的第二模型,来确定用于使车辆从当前状态移动到期望状态的车轮的转向角度和电动机力的组合;确定车辆的运动的成本函数;优化车辆的运动的成本函数,以计算用于控制方向盘以及多个电动机的命令信号;以及基于命令信号来控制电动机力以及车轮的转向角度。
SYSTEM AND METHOD FOR CONTROLLING MOTION OF VEHICLE
用于控制车辆的运动的系统和方法
2024-05-31
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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