The invention discloses a transverse and roll comprehensive control method for an automatic driving distributed driving electric automobile, and belongs to the technical field of automobile intelligent safety and automatic driving. Travelling state information and reference path information of the automatic driving distributed driving electric automobile are collected through a vehicle-mounted sensing system, a roll effect and an actuator fault are considered, a Takagi-Sugeno fuzzy transverse control model with parameter uncertainty and time-varying characteristics is established, the robust transverse and roll angle comprehensive control method for the automatic driving distributed driving electric vehicle is designed, and meanwhile, an observer based on the Takagi-Sugeno model is provided for the unmeasurability of the roll angle and the roll angle speed in the driving process of the automatic driving distributed driving electric automobile. The influence of the roll effect and the actuator fault on transverse motion control of the automatic driving distributed driving electric automobile is overcome, and the autonomous driving performance of the automatic driving distributed driving electric vehicle is improved.

    自动驾驶分布式驱动电动汽车横向与侧倾综合控制方法,属于汽车智能安全与自动驾驶技术领域。通过车载传感系统采集自动驾驶分布式驱动电动汽车的行驶状态信息和参考路径信息,考虑侧倾效应和执行器故障,建立具有参数不确定和时变特性的Takagi‑Sugeno模糊横向控制模型,设计一种自动驾驶分布式驱动电动汽车鲁棒横向和侧倾综合控制方法,同时针对自动驾驶分布式驱动电动汽车行驶过程中侧倾角和侧倾角速度的不可测性,提出基于Takagi‑Sugeno模型的观测器。克服了侧倾效应和执行器故障对自动驾驶分布式驱动电动汽车横向运动控制的影响,提高了自动驾驶分布式驱动电动汽车的自主行驶性能。


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    Title :

    Transverse and roll comprehensive control method for automatic driving distributed driving electric automobile


    Additional title:

    自动驾驶分布式驱动电动汽车横向与侧倾综合控制方法


    Contributors:
    GUO JINGHUA (author) / WANG JINGYAO (author) / ZHENG HUAQING (author) / WANG BAN (author) / LI WENCHANG (author) / XIAO BAOPING (author)

    Publication date :

    2020-04-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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