The invention relates to an unmanned logistics vehicle transverse and longitudinal coordination control method based on mass estimation, and designs a transverse and longitudinal coordination control system for unmanned vehicle path tracking according to correlation characteristics between transverse and longitudinal dynamics of an unmanned intelligent vehicle. An extended Kalman filtering algorithm is adopted to accurately identify the vehicle quality, and a model prediction algorithm and a dual proportional-integral-differential algorithm are applied to realize coordinated control of the accelerator opening, the brake pressure and the front wheel turning angle, so that the performance of path tracking control is ensured; according to the transverse and longitudinal coordination control method, the expected path can be stably tracked at the expected speed under the condition that the load capacity of the unmanned logistics vehicle is changed, the transverse stability in the tracking process is guaranteed, and the dynamic property and safety of the vehicle are improved.
本发明涉及一种基于质量估计的无人物流车横纵向协调控制方法,针对无人驾驶智能车辆横纵向动力学之间的关联特性,设计无人驾驶车辆路径跟踪的横纵向协调控制系统。采用扩展卡尔曼滤波算法对车辆质量进行精确的识别,运用模型预测算法与双重比例‑积分‑微分算法实现对油门开度、制动压力及前轮转角的协调控制,保证路径跟踪控制的性能,该横纵向协调控制方法能够在无人驾驶物流车载重量变化下,在期望速度下稳定进行期望路径的跟踪,保证跟踪过程中的横向稳定性,提高车辆的动力性以及安全性。
Unmanned logistics vehicle transverse and longitudinal coordination control method based on mass estimation
一种基于质量估计的无人物流车横纵向协调控制方法
29.03.2024
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 |
Park logistics vehicle control method and device and unmanned logistics vehicle
Europäisches Patentamt | 2021
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