The invention discloses a curve control method and a curve control system, and relates to the technical field of automobile control. The method comprises the steps of establishing a vehicle kinematicsmodel and a complete vehicle state equation according to vehicle driving data and vehicle geometrical parameters, and calculating a real-time twist angle of a vehicle; calculating the turning radiusof rear wheels of a tractor according to the steering wheel angle, and calculating the turning radius of a trailer according to the real-time twist angle; generating a reference driving track; takingthe sum of the maximum positive transverse deviation and the maximum negative transverse deviation of a vehicle contour point and the reference driving track and the reference driving radius as the curvature radius of atarget track, and further generating the target track; and calculating a control instruction according to the target track and the current vehicle speed, and controlling the vehicleto turn through the control instruction. According to the invention, the reference driving track and the target track can be generated, the control instruction is obtained through the target track, the vehicle is controlled to turn through the control instruction, and the situation that the target track deviates due to the fact that the trailer size is too large during curve driving is avoided.

    本发明公开了一种弯道控制方法及控制系统,涉及汽车控制技术领域,该方法包括:根据车辆行驶数据和车辆几何参数,建立车辆运动学模型和整车状态方程,计算车辆实时扭结角;根据方向盘转角计算牵引车后轮转弯半径,进而根据实时扭结角,计算挂车转弯半径;生成基准行驶轨迹;以车辆轮廓点与基准行驶轨迹的最大正横向偏差和最大负横向偏差之和,加上基准行驶半径,作为目标轨迹的曲率半径,进而生成目标轨迹;根据目标轨迹和当前车速,计算控制指令,并通过控制指令控制车辆转弯。本发明可生成基准行驶轨迹和目标轨迹,通过目标轨迹得到控制指令,并通过控制指令控制车辆转弯,避免了弯道行驶时挂车尺寸过大导致目标轨迹出现偏差的情况。


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    Title :

    Curve control method and curve control system


    Additional title:

    一种弯道控制方法及控制系统


    Contributors:
    WAN SIXI (author) / XIA RANFEI (author) / GUAN JIE (author) / YIN ZHENG (author) / CHEN ZHAO (author) / FU YUANYI (author) / LU XINYUE (author) / ZHANG HAN (author) / LI GUITAO (author)

    Publication date :

    2020-06-12


    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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