The invention provides a vehicle dynamic prediction model updating method and device. The method comprises the steps of obtaining an actual steering wheel rotation angle and an actual yaw velocity in a target time window; normalizing the actual steering wheel angle in the target time window; inputting the normalized actual steering wheel rotation angle into a vehicle dynamic prediction model, and carrying out convolution by the vehicle dynamic prediction model based on the input actual steering wheel rotation angle in the target time window and the unit impulse response of the vehicle dynamic prediction model to obtain a predicted yaw velocity; and according to the predicted yaw velocity, the normalized actual steering wheel rotation angle and the actual yaw velocity in the target time window, updating the vehicle dynamic prediction model to obtain a vehicle dynamic update model. According to the method, the vehicle dynamic model is automatically updated on line, the model prediction precision is improved, subsequent control according to the model prediction result is facilitated, and the control precision requirement is met.
本发明提供一种车辆动态预测模型更新方法及装置,方法包括:获取目标时间窗内的实际方向盘转角和实际横摆角速度;对目标时间窗内的实际方向盘转角进行归一化处理;将归一化处理后的实际方向盘转角输入至车辆动态预测模型中,车辆动态预测模型基于输入的目标时间窗内的实际方向盘转角与车辆动态预测模型单位脉冲响应进行卷积,得到预测横摆角速度;根据预测横摆角速度、归一化处理后的实际方向盘转角和目标时间窗内的实际横摆角速度,更新车辆动态预测模型,得到车辆动态更新模型。本发明实现了在线自动更新车辆动态模型,提高模型预测的精度,进而便于后续根据模型预测结果进行控制,满足了控制的精确度要求。
Vehicle dynamic prediction model updating method and device
车辆动态预测模型更新方法及装置
2022-12-02
Patent
Elektronische Ressource
Chinesisch
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