The invention provides a vehicle chassis information physical system and multi-agent cooperative control method. A sensing module, a multi-agent cooperative control module, a drive-by-wire chassis physical system, a driving environment digital twinning body and a vehicle model digital twinning body are included. On the basis of the multi-agent coordination control module, all upper-layer automobile safety auxiliary systems of the automobile chassis are coordinated, conflict behaviors among all control systems are avoided, meanwhile, the decision-making difficulty of a lower-layer drive-by-wire system is reduced, and the comprehensive coordination control performance of the chassis domain under the specific working condition is improved. Based on a digital twinning method, a driving environment digital twinning body and a vehicle model digital twinning body are established, the twinning bodies interact with a real environment in real time, and based on the vehicle model digital twinning body, a control quantity which is more accurate than that of a conventional method is calculated and obtained, so that the stability and reliability of chassis control are greatly improved.
本发明提供一种车辆底盘信息物理系统与多智能体协同控制方法,包括感知模块、多智能体协调控制模块、线控底盘物理系统、驾驶环境数字孪生体及车辆模型数字孪生体;本发明基于多智能体协调控制模块,对汽车底盘各上层汽车安全辅助系统进行协调,避免了各控制系统之间的冲突行为,同时也减轻了下层线控系统决策难度,提升了特定工况下底盘域综合协同控制性能。基于数字孪生方法,建立了驾驶环境数字孪生体及车辆模型数字孪生体,孪生体与真实环境实时交互,基于车辆模型数字孪生体计算得出较常规方法更为精确的控制量,极大的提高了底盘控制的稳定性和可靠性。
Vehicle chassis information physical system and multi-agent cooperative control method
一种车辆底盘信息物理系统与多智能体协同控制方法
2023-07-18
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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