The invention discloses an automatic driving vehicle longitudinal control system and method based on feedforward-fuzzy PI. The system comprises a vehicle information acquisition module, an upper controller module and a lower controller module. The controller is divided into an upper controller module and a lower controller module according to a control flow. And the upper controller module proposes feed-forward fuzzy PI control, including feed-forward control and fuzzy PI feedback control. The lower controller module includes a logic switching control and a reverse longitudinal vehicle model. When the control system is operated, when the expected speed of the autonomous vehicle changes, the control precision of the control system is higher than that of a traditional control mode, and therefore longitudinal motion control over the vehicle can be better achieved.
本发明公开了一种基于前馈‑模糊PI的自动驾驶车辆纵向控制系统及方法,系统包括:车辆信息获取模块、上位控制器模块和下位控制器模块。本发明根据控制流程分为上位控制器模块和下位控制器模块。上位控制器模块提出前馈模糊PI控制,包括前馈控制和模糊PI反馈控制。下位控制器模块包括逻辑切换控制和反向纵向车辆模型。运行本发明的控制系统时当自主车辆期望速度发生变化,其控制精度高于传统控制方式,从而可以更好地实现车辆的纵向运动控制。
Automatic driving vehicle longitudinal control system and method based on feedforward-fuzzy PI
基于前馈-模糊PI的自动驾驶车辆纵向控制系统及方法
2022-11-01
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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