The invention relates to a longitudinal, transverse and vertical integrated control method and system, a vehicle and a medium, and relates to the technical field of vehicle control, and the method comprises the steps: collecting dynamic parameters of the vehicle through a sensor, and building a multi-degree-of-freedom model of the vehicle in the longitudinal, transverse and vertical directions based on the dynamic parameters; obtaining a future motion state of the vehicle in a prediction time domain based on the dynamic parameters and a multi-degree-of-freedom model, and generating an optimal control instruction sequence based on the future motion state; based on the optimal control instruction sequence, carrying out integrated control on the vehicle, and carrying out unified optimal distribution on longitudinal, transverse and vertical forces of vehicle tires; and controlling each actuator of the vehicle to execute corresponding actions according to the optimal distribution result. According to the invention, the driving comfort of the vehicle under various bad working conditions can be improved.
本发明涉及一种纵横垂集成控制方法、系统、车辆及介质,涉及车辆控制技术领域,所述方法包括通过传感器收集车辆的动态参数,并基于所述动态参数建立车辆在纵横垂三个方向上的多自由度模型;基于所述动态参数和多自由度模型,获取车辆在预测时域的未来运动状态,并基于所述未来运动状态,生成最优控制指令序列;基于所述最优控制指令序列,对车辆进行集成控制,对车辆轮胎的纵、横、垂向力进行统一优化分配;根据所述优化分配的结果,控制车辆各执行器执行相应动作。本发明可提升车辆在各种不良工况下的驾乘舒适性。
Longitudinal, transverse and vertical integrated control method and system, vehicle and medium
纵横垂集成控制方法、系统、车辆及介质
2025-01-28
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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