The invention provides an intelligent driving vehicle longitudinal and transverse control method and system based on limiting working conditions. The intelligent driving vehicle longitudinal and transverse control method comprises the steps of 1, analyzing an intelligent driving vehicle, and establishing a dynamics model; 2, selecting a state variable and an input and output variable according to the kinetic model to obtain a state equation; 3, selecting a state variable function as a performance index to obtain a performance index function, and listing constraint conditions; 4, acquiring system state information, and solving an optimization problem consisting of a performance index function, a state equation and constraint conditions to obtain a current optimal control quantity; and 5, taking the current optimal control quantity as control input to obtain state information of the system at the next moment, and then establishing a new optimization problem to obtain the optimal control quantity at the next moment. According to the method, a nonlinear problem in the intelligent driving vehicle dynamics model can be converted into a linear problem for solving, and a multivariable problem in the intelligent driving vehicle dynamics model can be conveniently processed.
本发明提供了一种基于极限工况的智能驾驶车辆纵横向控制方法和系统,包括:步骤1:对智能驾驶车辆进行分析并建立动力学模型;步骤2:根据动力学模型选择状态变量和输入输出变量,得到状态方程;步骤3:选择状态变量函数作为性能指标,得到性能指标函数,并列出约束条件;步骤4:获取系统状态信息,求解由性能指标函数、状态方程以及约束条件组成的最优化问题,得到当前最优控制量;步骤5:将当前最优控制量作为控制输入得到系统下一时刻状态信息,再建立新的最优化问题得到下一时刻最优控制量。本发明对于智能驾驶车动力学模型中的非线性问题可转化为线性问题求解,可以很方便的处理智能驾驶车动力学模型中多变量问题。
Longitudinal and transverse control method and system for intelligent driving vehicle based on limit working condition
基于极限工况的智能驾驶车辆纵横向控制方法和系统
24.12.2021
Patent
Elektronische Ressource
Chinesisch
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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