The invention relates to the technical field of automobile control, in particular to a low-cost self-adaptive cruise curve radius estimation and speed control method. The method comprises the steps ofestimating a first turning radius R1 based on the automobile speed and the automobile yaw velocity, estimating a second turning radius R2 based on the automobile speed and the automobile lateral acceleration, estimating a third turning radius R3 based on the steering wheel rotation angle, and performing weighted calculation on the first turning radius R1, the second turning radius R2 and the third turning radius R3 to obtain a self-adaptive cruise most-comfortable turning radius R. The curve radius estimation method does not need to rely on a map, a visual sensor and the like, only needs to receive signals such as rotating angles of a steering wheel and a gyroscope, can stably estimate the curve radius through the automobile speed, the yaw velocity and the lateral acceleration, is quite low in cost investment and accurate in estimation and provides a good foundation for subsequent comfortable turning control.
本发明涉及汽车控制技术领域,具体地指一种低成本自适应巡航弯道半径估算及速度控制方法。基于汽车车速和汽车横摆角速度估算的第一转弯半径R1;基于汽车车速和汽车侧向加速度估算的第二转弯半径R2;基于方向盘转角估算第三转弯半径R3;对第一转弯半径R1、第二转弯半径R2和第三转弯半径R3进行加权计算获得自适应巡航最舒适转弯半径R。本发明的弯道半径估算方法不需要依靠地图、视觉传感器等,只需要接收陀螺仪以及方向盘转角等信号,通过车速、横摆角速度、侧向加速度就能够较稳定地估算弯道半径,成本投入极小,且估算准确,为后续进行舒适过弯控制提供良好的基础。
Low-cost self-adaptive cruise curve radius estimation and speed control method
一种低成本自适应巡航弯道半径估算及速度控制方法
2020-11-24
Patent
Electronic Resource
Chinese
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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