The invention provides a cloud-based intelligent network connection automobile control system and method. The system comprises an edge cloud layer, an automobile end control layer and an automobile end execution layer. The edge cloud layer collects information of all road test sensors and state information of all vehicles in a control area, an optimal path is planned through comprehensive decision, and transverse control quantity fusion and longitudinal control quantity fusion are carried out respectively; the vehicle end control layer performs real-time vehicle stability judgment in combination with vehicle state information, distributes additional yawing moment to an active steering module, a differential braking module and a differential driving module by adopting a multi-agent coordination controller when vehicle instability occurs, and controls the vehicle end control layer when control information of the edge cloud end layer is not transmitted to a vehicle end on time. A vehicle-end transverse L-MPC controller and a vehicle-end longitudinal double-PID controller are switched at the vehicle end to carry out tracking control; and the vehicle end execution layer controls each actuator to work to realize execution of the control quantity. According to the invention, the precision and stability of vehicle control are improved, and the control redundancy of the vehicle is realized.
本发明提供一种基于云的智能网联汽车控制系统与方法,包括边缘云端层、车端控制层和车端执行层;边缘云端层采集控制区域内所有路测传感器信息和所有车辆的状态信息,综合决策规划出一条最优路径,分别进行横向控制量融合和纵向控制量融合;车端控制层结合车辆状态信息进行实时车辆稳定性判断,当出现车辆失稳时采用多智能体协调控制器将附加横摆力矩分配到主动转向模块、差动制动模块和差动驱动模块,当边缘云端层的控制信息没有准时传输到车端时,车端调用车端横向L‑MPC控制器和车端纵向双PID控制器进行跟踪控制;车端执行层控制各执行器工作实现控制量的执行。本发明提高了车辆控制的精度和稳定性,同时实现车辆的控制冗余。
Cloud-based intelligent network connection automobile control system and method
一种基于云的智能网联汽车控制系统与方法
2024-04-12
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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