The invention relates to a control method for reverse driving of a vehicle formation on an obstructed road, which is characterized in that on the basis of a navigation-following formation model, a formation reverse driving control strategy based on the track of a pilot vehicle is designed by taking the gear of the pilot vehicle as a condition; the front wheel angle control quantity and the speed control quantity of the formation vehicles are calculated based on a geometric tracking method and an LQR theory respectively, it is guaranteed that the front wheel angle control quantity and the speed control quantity are consistent with the original track of the pilot vehicle, the vehicle distance in the formation is within a reasonable range, and the vehicle formation achieves reverse running under the blocked road working condition. The beneficial effects of the invention are that the method considers the obstructed road working condition of the vehicle formation driving, proposes the reversing control method of the formation driving, and is universal. The formation safety under the working conditions that the pilot vehicle drives into an invalid road and needs to return on the original road can be ensured, the overall reverse driving control of the formation is realized, and the adaptability and practicability of the vehicle formation are improved.
本发明涉及一种车辆编队在遇阻道路上逆向行驶的控制方法,其特征是:在领航‑跟随编队模型的基础上,以领航车档位为条件,设计基于领航车轨迹的编队逆向行驶控制策略,分别基于几何跟踪方法和LQR理论计算编队车辆前轮转角控制量和速度控制量,保证与领航车原轨迹一致,且编队内车辆间距在合理范围内,使车辆编队在遇阻道路工况下实现逆向行驶。有益效果:本发明考虑了车辆编队行驶的遇阻道路工况,提出编队行驶的倒车控制方法,具有普适性。能够保证领航车驶入无效道路且需要原路返回工况下的编队安全性,实现编队的整体逆向行驶控制,提高车辆编队的适应性和实用性。
Control method for reverse driving of vehicle formation on blocked road
车辆编队在遇阻道路上逆向行驶的控制方法
2022-08-05
Patent
Elektronische Ressource
Chinesisch
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