The invention belongs to the technical field of automatic driving test, and particularly relates to an active suspension low-computational-power preview control method considering actuator time lag and vehicle speed change. Comprising the following steps: step 1, establishing a quarter vehicle active suspension model considering time lag and an active suspension continuous time state-space equation, and discretizing; 2, establishing a pavement model capable of changing along with the vehicle speed, acquiring spatial domain road elevation information in a preview range by using a perception sensor, and further converting the spatial domain road elevation information into time domain road elevation information through time domain conversion; and step 3, designing an active suspension preview control method based on the discretization state-space equation of the active suspension and the time domain road elevation information. According to the invention, the computing power of the control method can be effectively reduced on the premise of ensuring the control performance of the active suspension.
本发明属于自动驾驶测试技术领域,具体的说是一种考虑执行器时滞和车速变化的主动悬架低算力预瞄控制方法。包括以下步骤:步骤一、建立考虑时滞的四分之一车辆主动悬架模型和主动悬架连续时间状态空间方程并进行离散化;步骤二、建立能够随车速变化的路面模型并且利用感知传感器获取预瞄范围内的空间域道路高程信息,进而通过时域转换将空间域道路高程信息转化为时间域道路高程信息;步骤三、基于主动悬架离散化状态空间方程和时间域道路高程信息设计了主动悬架预瞄控制方法。本发明能够在保证主动悬架控制性能的前提下有效降低控制方法的算力。
Active suspension low-computational-power preview control method considering actuator time lag and vehicle speed change
一种考虑执行器时滞和车速变化的主动悬架低算力预瞄控制方法
2025-02-25
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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