The invention relates to model-based predictive control of a motor vehicle. In this case, an MPC algorithm (13) is implemented, the MPC algorithm comprising an advanced solver module (13.1), in which, by implementing the advanced solver module (13.1), an advanced longitudinal trajectory (31) is calculated for a road segment ahead, according to which the motor vehicle (1) should move forward within a distance-based advanced predictive field of view. The advanced longitudinal trajectory (31) calculated by the advanced solver module (13.1) is transmitted as an input value to a tracker solver module (13.2) of the MPC algorithm (13). A tracker solver module (13.2) is implemented such that a tracker longitudinal trajectory (32) is calculated on the basis of an advanced longitudinal trajectory (31.1) calculated by the advanced solver module (13.1), according to which the motor vehicle (1) should move forward within a time-based tracker predictive field of view, which is selected to be shorter than an advanced predictive field of view, and according to which the motor vehicle (1) should move forward within the time-based tracker predictive field of view, which is selected to be shorter than the advanced predictive field of view, is calculated by the advanced solver module (13.1), based on the advanced longitudinal trajectory (31.1) calculated by the advanced solver module (13.1). Thus, the tracker prediction field of view covers only a portion of the advanced prediction field of view.
本发明涉及对机动车辆进行基于模型的预测式控制。在此,实施MPC算法(13),MPC算法包括高级求解器模块(13.1),其中,通过实施高级求解器模块(13.1),针对前方的路段区段计算出高级纵向轨迹(31),机动车辆(1)在基于路程的高级预测视界内应根据该高级纵向轨迹向前运动。将通过高级求解器模块(13.1)计算出的高级纵向轨迹(31)作为输入值传输给MPC算法(13)的跟踪器求解器模块(13.2)。实施跟踪器求解器模块(13.2),从而基于通过高级求解器模块(13.1)计算出的高级纵向轨迹(31.1)来计算出跟踪器纵向轨迹(32),机动车辆(1)在基于时间的跟踪器预测视界内应根据该跟踪器纵向轨迹向前运动,其中,跟踪器预测视界被选择得比高级预测视界更短,从而跟踪器预测视界仅涵盖高级预测视界的一部分。
MODEL-BASED PREDICTIVE CONTROL OF A MOTOR VEHICLE
对机动车辆进行基于模型的预测式控制
16.04.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / 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 |