The invention discloses a controllable suspension control system and method for an automatic driving vehicle, and relates to the technical field of vehicle control, and the system comprises a path planning layer calculation unit which is used for outputting a first suspension control instruction according to the path planning information of the vehicle; the path planning information comprises acceleration and trajectory curvature of each position on a planned path; the control layer processing unit is used for determining a control signal of the vehicle according to the path planning information of the vehicle and outputting a second suspension control instruction according to the control signal; and the suspension controller is used for carrying out weighted summation on the first suspension control instruction and the second suspension control instruction to obtain suspension control instructions of all positions on a planned path. According to the invention, the timeliness of suspension control is improved.
本发明公开一种面向自动驾驶车辆的可控悬架控制系统及方法,涉及车辆控制技术领域,该系统包括:路径规划层计算单元,用于根据车辆的路径规划信息输出第一悬架控制指令;所述路径规划信息包括规划路径上各位置的加速度和轨迹曲率;控制层处理单元,用于根据车辆的路径规划信息确定车辆的控制信号,根据所述控制信号输出第二悬架控制指令;悬架控制器,用于对所述第一悬架控制指令和所述第二悬架控制指令进行加权求和,得到规划路径上各位置的悬架控制指令。本发明提高了悬架控制的及时性。
Controllable suspension control system and method for autonomous vehicle
一种面向自动驾驶车辆的可控悬架控制系统及方法
04.08.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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