The invention discloses an automatic driving vehicle transverse control method and system. Based on Longitudinal and transverse dynamics of a vehicle, the invention provides a parameter identificationmethod for the mass of a whole vehicle, the distance from a front axle to the mass center of the vehicle, the distance from a rear axle to the mass center of the vehicle and the yawing moment of inertia of the vehicle. On the basis of the correlation between the kinetic parameters, online parameter identification of the mass of the whole vehicle and the distance from the front axle to the mass center of the vehicle is achieved, the transverse control precision is improved, and model mismatch and out-of-control of the vehicle due to load capacity changes of a commercial vehicle are avoided.

    本申请公开了一种自动驾驶车辆横向控制方法及其系统,以车辆纵横向动力学为基础,提出了一种整车质量、前轴到车辆质心的距离、后轴到车辆质心的距离以及车辆横摆转动惯量的参数辨识方法,并基于各动力学参数之间的相关性,实现整车质量和前轴到车辆质心距离的在线参数辨识,提高了横向控制精度,避免了商用车因载重量变化而使模型失配、车辆失控。


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    Title :

    Automatic driving vehicle transverse control method and system


    Additional title:

    自动驾驶车辆横向控制方法及其系统


    Contributors:
    MA PENGTAO (author) / HE BEI (author) / ZHANG TIANLEI (author) / ZHENG SIYI (author)

    Publication date :

    2020-05-22


    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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