The invention relates to a PID (Proportion Integration Differentiation) adjusting method and device for self-adaptive transverse control of a vehicle, and the method comprises the steps: obtaining a steering wheel angle of the vehicle and a holding torque of a driver in real time, and determining and/or calculating a dynamic parameter change rate according to the steering wheel angle and the holding torque; calculating a dynamic correction value according to the dynamic parameter change rate, and calculating a dynamic correction coefficient according to the dynamic correction value; calculating a plurality of first correction terms of PID according to the dynamic correction coefficient; a gradient coefficient function is determined according to the gradient change time interval and the abrupt change time interval of the vehicle experiencing the gradient; calculating a second correction term of the PID according to the gradient coefficient function; and adjusting the transverse control output of the PID based on the plurality of first correction terms and the second correction terms. The vehicle transverse control PID is corrected through the vehicle steering wheel turning angle and the driver holding torque in combination with the gradient smoothing strategy, and therefore the stability and adaptability of the vehicle transverse control PID are improved.

    本发明涉及一种车辆自适应横向控制的PID调整方法及装置,其方法包括:实时获取车辆方向盘转角和驾驶员握持力矩,并根据其确定和/或计算动态参数变化率;根据所述动态参数变化率计算动态修正值,并根据其计算动态修正系数;根据所述动态修正系数计算PID的多个第一修正项;根据车辆经历坡度的渐变时间区间和突变时间区间,确定坡度系数函数;根据所述坡度系数函数计算PID的第二修正项;基于所述多个第一修正项和所述第二修正项,调整PID的横向控制输出。本发明通过车辆方向盘转角和驾驶员握持力矩,并结合坡度平滑策略对车辆横向控制的PID进行修正,从而提高其稳定性和适应性。


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    Title :

    PID (Proportion Integration Differentiation) adjusting method and device for vehicle adaptive transverse control


    Additional title:

    一种车辆自适应横向控制的PID调整方法及装置


    Contributors:
    HUANG XIWANG (author) / LIU HUIKAI (author) / FU BIN (author) / YUAN XIAODONG (author)

    Publication date :

    2022-11-22


    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