The invention belongs to the technical field of vehicle automatic control, and discloses a lane keeping-based commercial vehicle adaptive cruise control method, which comprises the following steps: on the basis of a Koopman operator theory, constructing a neural network-based commercial vehicle linearization model; commercial vehicle driving information and front road information are collected, and a vehicle-road relative position model is constructed; acquiring a state quantity about curve steering of the commercial vehicle through the vehicle-road relative position model; and designing a predictive controller based on the commercial vehicle linearization model, inputting the state quantity into the predictive controller, calculating to obtain a control quantity about the curve steering of the commercial vehicle, and acting the control quantity on a commercial vehicle control system. In conclusion, the commercial vehicle linearization model is constructed by fitting based on the Koopman operator theory and the neural network, and the commercial vehicle linearization model is combined with the vehicle-road relative position model, so that the commercial vehicle has better trajectory tracking performance during steering driving.

    本发明属于车辆自动控制技术领域,公开了一种基于车道保持的商用车自适应巡航控制方法,包括:以Koopman算子理论为基础,构建基于神经网络的商用车线性化模型;采集商用车行驶信息及前方道路信息,并构建车辆‑道路相对位置模型;通过所述车辆‑道路相对位置模型获取关于商用车弯道转向的状态量;设计基于所述商用车线性化模型的预测控制器,将所述状态量输入所述预测控制器,计算得到关于商用车弯道转向的控制量,并将所述控制量作用于商用车控制系统。综上,本发明以Koopman算子理论和神经网络为基础拟合构建商用车线性化模型,还将商用车线性化模型与车辆‑道路相对位置模型相结合,以此使得商用车在转向行驶时具有更好的轨迹跟踪性能。


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    Title :

    Commercial vehicle adaptive cruise control method based on lane keeping


    Additional title:

    一种基于车道保持的商用车自适应巡航控制方法


    Contributors:
    YU SHUYOU (author) / LIU JUNTING (author) / CHANG HUAN (author) / LI WENBO (author) / CHEN HONG (author)

    Publication date :

    2023-05-05


    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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