The invention discloses a self-vehicle motion model optimization method, a following vehicle acceleration planning method and a storage medium, the self-vehicle motion model optimization method is used for vehicle acceleration planning, and comprises the following steps: obtaining or constructing a dynamic prediction time domain; constructing a kinematical equation of the self-vehicle and carrying out constraint; a self-vehicle discrete time state space motion model for model prediction control is constructed by the kinematics equation of the self-vehicle based on the prediction dynamic time domain, and an output variable sequence is obtained according to the self-vehicle discrete time state space motion model; and constructing a cost function to calculate the expected acceleration. According to the self-vehicle motion model optimization method, off-line calibration is carried out on a dynamic time domain, an MPC target function can be selectively designed, the solving complexity of the MPC target function can be reduced, algorithm resource consumption can be reduced, a low-computing-power controller can be adapted, the robustness of longitudinal planning control of a system and the vehicle type self-adaptive capacity are enhanced, and the self-vehicle motion model optimization method is suitable for a vehicle. The high-safety, high-comfort and high-reliability mass production requirements with less resource occupation and good real-time performance are met, and the method has a wide application prospect and a high market value.
本发明公开了一种自车运动模型优化方法、跟车加速度规划方法及存储介质,所述自车运动模型优化方法,其用于车辆加速度规划,包括:获取或构建动态预测时域;构建自车的运动学方程并进行约束;基于预测动态时域将自车的运动学方程构建模型预测控制的自车离散时间状态空间运动模型根据自车离散时间状态空间运动模型获得输出变量序列;构建代价函数计算期望加速度。本发明自车运动模型优化方法对动态时域进行离线标定可以选择设计MPC目标函数降低其求解复杂度,可减小算法资源消耗,适配低算力控制器,增强了系统纵向规划控制的鲁棒性和车型自适应能力,满足资源占用少、实时性好的高安全高舒适高可靠量产要求,具有广阔的应用前景和较高的市场价值。
Self-vehicle motion model optimization method, following vehicle acceleration planning method and storage medium
自车运动模型优化方法、跟车加速度规划方法及存储介质
2023-12-22
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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