The invention relates to an automatic driving hybrid control method based on four-wheel steering. The method is based on a matrix in which B is 4 * 1 when a corresponding vehicle model is in front-wheel steering, a matrix in which B is 4 * 2 when the corresponding vehicle model is in four-wheel steering, and a matrix in which u is a front-wheel steering angle when the corresponding vehicle model is in front-wheel steering and u is a 2 * 1 matrix formed by the front-wheel steering angle and a rear-wheel steering angle when the corresponding vehicle model is in four-wheel steering. And the vehicle motion state is adjusted in real time. According to the method, the optimal front and rear wheel turning angles can be distributed in real time according to the expected track, the current driving working condition of the vehicle can be judged based on the curvature of the expected track, the control mode is flexibly selected, front wheel steering control is adopted in a straight line or small-curvature curve, and four-wheel steering control is adopted in a large-curvature curve or a special track.
本发明涉及一种基于四轮转向的自动驾驶混合控制方法。该方法基于当对应车辆模型为前轮转向时,式中B为4×1的矩阵,当对应车辆模型为四轮转向时,式中B为4×2的矩阵,以及当对应车辆模型为前轮转向时,u为前轮转角,当对应车辆模型为四轮转向时,u为前轮转角和后轮转角组成的2×1的矩阵,对车辆运动状态进行实时调整。本发明不仅能够根据期望轨迹实时分配最优的前后轮转角,而且能够基于期望轨迹的曲率判断车辆当前的行驶工况,灵活选择控制模式,在直线或小曲率弯道采用前轮转向控制,在大曲率弯道或特殊轨迹采用四轮转向控制。
Automatic driving hybrid control method based on four-wheel steering
一种基于四轮转向的自动驾驶混合控制方法
11.11.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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