The invention discloses a vehicle motion control method, and the method comprises the steps: introducing a smooth fault signal model of each execution unit into a linear tracking error dynamic system of each execution unit, solving a preset decentralized tracking control strategy of each execution unit under the condition of a preset interference attenuation level based on a system model, and carrying out the calculation of the decentralized tracking control strategy of each execution unit. Enabling the enhanced tracking estimation error model of the intelligent agent of each execution unit in the whole vehicle system to realize preset system performance, and obtaining a target control gain and a target observer gain of each execution unit; the vehicle is controlled according to the target dispersion tracking control strategy of each execution unit obtained by setting the control gain of each execution unit and the observer gain, so that the problem that the tracking control of the vehicle is difficult when the vehicle encounters sensor faults and wind disturbance is solved, and the tracking precision of the vehicle to a reference path in the driving process is ensured; the coping capacity of the system when faults and interference occur in the vehicle running process is improved.

    本申请公开了一种车辆运动的控制方法,该方法本通过将每个执行单元的平滑故障信号模型引入每个执行单元的线性跟踪误差动态系统,基于系统模型,在预设干扰衰减水平的条件下,对每个执行单元的预设分散跟踪控制策略进行求解,以使整车系统中每个执行单元的智能体的增强跟踪估计误差模型实现预设系统性能,得到每个执行单元的目标控制增益和目标观测器增益;根据每个执行单元的控制增益和观测器增益设置得到的每个执行单元的目标分散跟踪控制策略对车辆进行控制,解决了车辆在遇到传感器故障和风扰时的跟踪控制困难的问题,保证了车辆在行驶过程中对于参考路径的跟踪精度,提高了系统在车辆行驶中出现故障和干扰时的应对能力。


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    Titel :

    Vehicle motion control method, device and equipment and storage medium


    Weitere Titelangaben:

    车辆运动的控制方法、装置、设备及存储介质


    Beteiligte:
    YU WENYAN (Autor:in) / XU HUALIN (Autor:in)

    Erscheinungsdatum :

    2024-02-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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