The invention relates to a commercial vehicle automatic driving longitudinal control system and method, and the system comprises an environment feedforward controller which outputs a vehicle target acceleration compensation value according to environment state information; the chassis drive-by-wire feed-forward controller outputs a vehicle control command according to the chassis state information, the target acceleration and the target acceleration compensation value; the PID controller is used for outputting a vehicle control compensation command according to the current vehicle speed and the target vehicle speed; and the chassis drive-by-wire module is used for controlling the vehicle according to the vehicle control command and the vehicle control compensation command. According to the invention, the response speed and the control precision of the automatic driving longitudinal control of the commercial vehicle can be effectively improved.

    本发明涉及一种商用车自动驾驶纵向控制系统及方法,包括环境前馈控制器,所述环境前馈控制器根据环境状态信息,输出车辆目标加速度补偿值;底盘线控前馈控制器,所述底盘线控前馈控制器根据底盘状态信息、目标加速度和目标加速度补偿值,输出车辆控制命令;PID控制器,所述PID控制器根据当前车速和目标车速,输出车辆控制补偿命令;底盘线控模块,底盘线控模块根据所述车辆控制命令和车辆控制补偿命令,对车辆进行控制。本发明能够有效提高商用车自动驾驶纵向控制的响应速度和控制精度。


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    Titel :

    Commercial vehicle automatic driving longitudinal control system and method


    Weitere Titelangaben:

    商用车自动驾驶纵向控制系统及方法


    Beteiligte:
    ZHU HENG (Autor:in) / GUO JINWEN (Autor:in) / HAN PINGLIANG (Autor:in) / WANG LEI (Autor:in)

    Erscheinungsdatum :

    2022-12-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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