The invention relates to performing an autonomous driving function of a motor vehicle by means of model-based predictive adjustment (MPC). In particular, a processor unit provided for this purpose is proposed. The processor unit is arranged by executing an MPC algorithm containing a longitudinal kinetic model of a powertrain of the motor vehicle for determining a torque target value (21) located within a prediction range (20) and a speed target value (19) located within the prediction range (20). According to the invention, an autonomous driving function of the motor vehicle is carried out in a torque-specified operating mode or in a speed-specified operating mode as a function of the level of the torque target value (21). In the torque predetermined operating mode, a drive unit of the drive train is controlled on the basis of a torque target value (21). In the speed operating mode, a speed regulator of the powertrain is controlled on the basis of a speed target value (19).
本发明涉及借助基于模型的预测性调整(MPC)来执行机动车的自主行驶功能。尤其提出了为此设置的处理器单元。处理器单元通过执行包含机动车的动力总成的纵向动力学模型的MPC算法而被设置成用于,确定位于预测范围(20)内的转矩目标值(21)和位于预测范围内(20)内的速度目标值(19)。根据转矩目标值(21)的水平,在转矩预定运行模式中或在速度预定运行模式中执行机动车的自主行驶功能。在转矩预定运行模式中基于转矩目标值(21)来控制动力总成的驱动机组。在速度运行模式中基于速度目标值(19)来控制动力总成的速度调整器。
MPC-based autonomous driving function of motor vehicle
机动车的基于MPC的自主行驶功能
2022-06-14
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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