A method of controlling a vehicle includes obtaining a linear representation of a vehicle dynamics model, the vehicle dynamics model including an actuator dynamics u integrated with a vehicle dynamics x, the actuator dynamics u including a torque Mz and a wheel angle [delta] r at a rear wheel; obtaining an objective function based on a function of the vehicle dynamic characteristic x and the actuator dynamic characteristic u; listing a cost function to minimize the objective function; and determining the actuator dynamics u comprising a torque Mz for the next time sampling based on minimizing the objective function. The vehicle is controlled to achieve the torque Mz.
一种控制车辆的方法包括获得车辆动态特性模型的线性表示,所述车辆动态特性模型包括用车辆动态特性x积分的致动器动态特性u,所述致动器动态特性u包括扭矩Mz和后轮处的车轮角度δr;基于所述车辆动态特性x和所述致动器动态特性u的函数获得目标函数;列出成本函数,以使得所述目标函数最小化;以及基于使所述目标函数最小化来确定包括用于下一时间采样的扭矩Mz的所述致动器动态特性u。控制车辆以实现扭矩Mz。
Vehicle actuation commands affecting instantaneous maneuvers
影响瞬时操纵的车辆致动命令
2023-02-03
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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