The invention discloses a cooperative control method, device and equipment for vehicle steering, and the method comprises the steps: firstly carrying out the linearization processing of a vehicle dynamics model constructed through the physical parameters of a target vehicle through the real-time operation parameters of the target vehicle, and obtaining a linearized model; carrying out discretization and differentiation treatment on the model to obtain a differentiated model; according to the driving intention of a target driver on the target vehicle, the real-time state target value of steering of the target vehicle is calculated, and the steady-state feedforward control quantity of the target vehicle is calculated through the real-time state target value and the linearized model. And the feedback control quantity of the target vehicle is calculated based on the LQR by using the real-time state target value and the differentiated model, and then the accumulated sum of the steady-state feed-forward control quantity and the feedback control quantity is used as the output control quantity of an actuator corresponding to the target vehicle to perform cooperative control on steering of the target vehicle so as to realize the driving intention of a target driver. The control effect and the driving experience are improved.
本申请公开了一种车辆转向的协同控制方法、装置及设备,该方法包括:首先利用目标车辆的实时运行参数,对利用其物理参数构建的车辆动力学模型进行线性化处理,得到线性化后的模型;然后对模型进行离散化和差分化处理,得到差分化后的模型;再根据目标车辆上目标驾驶员的驾驶意图,计算目标车辆转向的实时状态目标值,并利用实时状态目标值和线性化后的模型,计算目标车辆的稳态前馈控制量。以及利用实时状态目标值和差分化后的模型,基于LQR计算目标车辆的反馈控制量,接着将稳态前馈控制量和反馈控制量的累加和作为目标车辆对应执行器的输出控制量,用以对目标车辆的转向进行协同控制,以实现目标驾驶员的驾驶意图,提高控制效果和驾驶体验。
Cooperative control method, device and equipment for vehicle steering
一种车辆转向的协同控制方法、装置及设备
2025-05-13
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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