The invention relates to an execution method for vehicle control of an automatic driving vehicle. The execution method comprises the following steps that the wind speed, the wind resistance, the vehicle speed, the vertical acceleration, the longitudinal acceleration, the transverse acceleration, the gradient, the tire angular acceleration, the steering angle of a steering engine, the driving force, the braking force and the tire vertical load are obtained; inputting the parameters into a tire dynamic model to obtain instantaneous longitudinal force, transverse force and aligning torque of the tire; solving and calibrating tire pavement characteristic parameters; transverse and longitudinal acceleration of the target is obtained, the parameters are input into the whole vehicle dynamics model, and braking force torque and driving force torque are obtained and processed; and the target driving force torque, the target braking force torque and the target tire slip rate are obtained, and the driving system controller and the braking system controller drive the vehicle to execute corresponding command actions correspondingly. Compared with the prior art, factors such as damping, vibration, chassis structure and wind resistance of the whole vehicle are fully considered, and the reliability, timeliness and accuracy of the automatic driving control execution method are improved.

    本发明涉及一种用于自动驾驶车辆整车控制的执行方法,包括以下步骤:获取风速,风阻,车速,垂向、纵向和横向加速度,坡度,轮胎角加速度,转向机转向角,驱动力、制动力和轮胎垂向载荷;将上述参数均输入轮胎动力学模型,获取轮胎瞬时纵向力、横向力和回正力矩;求解并校准轮胎路面特性参数;获取目标的横向和纵向加速度,将上述参数输入整车动力学模型,获取并处理制动力扭矩和驱动力扭矩;进而获取目标驱动力扭矩和目标制动力扭矩、目标轮胎滑移率,驱动和制动系统控制器分别驱动车辆执行相应的命令动作。与现有技术相比,本发明充分考虑整车阻尼、振动、底盘结构、风阻等因素,提高自动驾驶的控制执行方法的可靠性、时效性和精确性。


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    Title :

    Execution method for vehicle control of automatic driving vehicle


    Additional title:

    一种用于自动驾驶车辆整车控制的执行方法


    Contributors:
    FANG XIANG (author) / WANG GUANGXUAN (author) / MAO XI (author)

    Publication date :

    2022-06-28


    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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