The invention discloses a wheel anti-skid control method for an unmanned vehicle. The wheel anti-skid control method comprises the steps that S1, the unmanned vehicle is started to run; s2, initializing the system; s3, starting self-inspection by the system; s4, acquiring engine rotating speed and wheel speed signals; s5, signal processing; s6, the wheel speed of the current driving wheel is read, and the wheel speed of the driving wheel is read according to the wheel speed data obtained in the step S5; s7, calculating the current vehicle speed; s8, estimating the wheel speed and the vehicle speed; s9, slip detection is carried out, and if slip occurs, the step S10 and the step S14 are executed respectively; if not, returning to S4; s10, identifying a tire model; s11, calculating an optimal slip rate; s12, throttle valve fuzzy PID control is carried out; s13, the opening degree of the throttle valve is adjusted, and then the step S4 is executed again; s14, performing fuzzy control on the brake pressure; and S15, carrying out anti-skid control on the braking system, and then returning to S4. According to the method, the problem of wheel slipping of the unmanned vehicle is effectively inhibited, and the safety of vehicle driving is improved.
本发明公开了一种无人驾驶车辆的车轮防滑控制方法,包括:S1,无人驾驶车辆启动运行;S2,系统初始化;S3,系统启动自检;S4,发动机转速、车轮轮速信号采集;S5,信号处理;S6,读取当前驱动轮的轮速,依据S5得到的车轮轮速数据读取驱动轮的轮速;S7,计算当前车速;S8,轮速、车速估计;S9,打滑检测,若打滑,分别执行S10和S14;若不打滑,返回S4;S10,轮胎模型识别;S11,计算最佳滑转率;S12,节气门模糊PID控制;S13,调节节气门开度,然后返回S4;S14,制动压力模糊控制;S15,制动系统防滑控制,之后返回S4。该方法有效抑制了无人驾驶车辆车轮打滑问题,提高了车辆行驶的安全性。
Wheel anti-skid control method of unmanned vehicle
无人驾驶车辆的车轮防滑控制方法
2023-03-28
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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