The invention discloses a drive-by-wire chassis device of an intelligent driving vehicle, a control method and a control system, and relates to the technical field of intelligent driving automobiles. According to the fused sensing information, a minimum safe distance model is adopted to determine whether the vehicle needs to change a lane autonomously; when the determination result shows that the vehicle needs to change the lane autonomously, performing autonomous lane changing planning according to a five-time lane changing trajectory function, and generating a transverse moving signal and a longitudinal moving signal; according to the two-degree-of-freedom vehicle model, feedback correction is conducted on the transverse movement signal and the longitudinal movement signal; the transverse movement signal and the longitudinal movement signal which are subjected to feedback correction are sent to a drive-by-wire chassis executing mechanism of the vehicle; the self-vehicle drive-by-wire chassis executing mechanism is used for achieving coordinated movement of the self-vehicle in the transverse direction and the longitudinal direction according to the transverse movement signal and the longitudinal movement signal after feedback correction. The automatic lane changing function of the vehicle can be achieved on the premise that safety is guaranteed.
本发明公开了一种智能驾驶车线控底盘装置、控制方法及控制系统,涉及智能驾驶汽车技术领域,该控制方法包括:获取融合感知信息;根据融合感知信息,采用最小安全距离模型确定自车是否需要自主换道;当确定结果表示自车需要自主换道时,根据五次换道轨迹函数进行自主换道规划,生成横向移动信号和纵向移动信号;根据二自由度车辆模型,分别对横向移动信号和纵向移动信号进行反馈校正;将反馈校正后的横向移动信号和纵向移动信号发送至自车线控底盘执行机构;自车线控底盘执行机构用于根据反馈校正后的横向移动信号和纵向移动信号实现自车横纵方向的协调移动。本发明能在保证安全的前提下实现车辆的自主换道功能。
Drive-by-wire chassis device of intelligent driving vehicle, control method and control system
一种智能驾驶车线控底盘装置、控制方法及控制系统
2023-05-12
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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