The invention discloses a trajectory tracking control method and device based on a heavy semitrailer, belongs to the technical field of vehicle trajectory control, and is used for solving the technical problems that in the process that an existing heavy semitrailer runs on a diversion ramp, the path tracking precision of a vehicle is poor, the vehicle is prone to deviating from an expected trajectory, and running stability control is not facilitated. The method comprises the following steps: acquiring vehicle operation state parameters and vehicle operation environment parameters of the heavy semitrailer; carrying out tracking and lane changing control on the heavy semitrailer under the condition of related safe vehicle spacing, and generating a vehicle driving strategy; according to the vehicle running environment parameters and the vehicle running strategy, main component analysis optimization is carried out on various vehicle running potential fields in the heavy semitrailer, and a ramp running track and a vehicle transverse and longitudinal tracking control strategy are determined; performing rollover evaluation calculation on the heavy semitrailer to obtain a rollover evaluation index of the whole semitrailer; and carrying out driving stability control calculation on the vehicle running state parameters to obtain a target function and carrying out global optimization control.

    本发明公开了一种基于重型半挂车的轨迹跟踪控制方法及设备,属于车辆轨迹控制技术领域,用于解决现有的重型半挂车在分流入匝道行驶过程中,车辆的路径跟踪精度差,容易偏离期望轨迹,不利于行驶稳定控制的技术问题。方法包括:获取重型半挂车的车辆运行状态参数以及车辆运行环境参数;对重型半挂车进行有关安全车间距下的跟踪及换道控制,生成车辆行驶策略;根据车辆运行环境参数以及车辆行驶策略,对重型半挂车中的多种车辆运行势场进行主成分分析优化,确定出匝道行驶轨迹以及车辆横纵向跟踪控制策略;对重型半挂车进行侧翻评价计算,得到整车侧翻评价指标;对车辆运行状态参数进行行驶稳定性控制计算,得到目标函数并进行全局优化控制。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Trajectory tracking control method and device based on heavy semitrailer


    Weitere Titelangaben:

    一种基于重型半挂车的轨迹跟踪控制方法及设备


    Beteiligte:
    LI XU (Autor:in) / SONG HONGZHENG (Autor:in) / WANG JIANCHUN (Autor:in) / ZHANG LIYE (Autor:in) / XU HENGXIN (Autor:in) / HAN ZHENGUO (Autor:in)

    Erscheinungsdatum :

    03.05.2024


    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



    Auxiliary driving device of semitrailer, semitrailer and control method of semitrailer

    PENG ZHONGYUAN / LEI XIAOXIAO / WANG YI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Semitrailer train collision avoidance trajectory planning and tracking control method and system

    REN YI / ZHANG LEI / DONG ENGUO et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Container automatic lock system for heavy truck semitrailer and heavy truck semitrailer

    LI HAIPING / WEI MINGQING / ZHANG YUNQIANG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Semitrailer and semitrailer frame

    LIU CHENGLIANG | Europäisches Patentamt | 2021

    Freier Zugriff

    Carriage for semitrailer and semitrailer

    ZHANG HENG / ZHANG TIAN / ZHANG YANBING et al. | Europäisches Patentamt | 2024

    Freier Zugriff