The invention discloses a preview tracking control system and control method for an automatic driving truck, and the system considers the dynamic characteristics of a long-wheelbase truck, builds a two-degree-of-freedom truck dynamic model, and considers the influence of the load change of the whole truck on the mass center position and yaw moment of inertia of the whole truck. And variations in the vertical load of each shaft and the tire cornering stiffness. Through PLQR control theory derivation, not only are transverse position errors and course position errors of a current point considered, but also future road curvature information of a parking track point is considered, and parking control over the long-wheelbase truck is achieved.
本发明公开了一种面向自动驾驶卡车的预瞄跟踪控制系统及控制方法,本系统考虑长轴距卡车的动力学特性,建立二自由度卡车动力学模型,考虑整车载重变化对整车质心位置和横摆转动惯量的影响,以及各轴垂向载荷和轮胎侧偏刚度的变化。通过PLQR控制理论推导,既考虑当前点的横向位置误差和航向位置误差,同时考虑泊车轨迹点的未来道路曲率信息,实现对长轴距卡车的泊车控制。
Preview tracking control system and control method for automatic driving truck
一种面向自动驾驶卡车的预瞄跟踪控制系统及控制方法
2023-12-29
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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