The invention discloses an intelligent vehicle parameter self-adjusting trajectory tracking system based on road conditions and an intelligent vehicle. The intelligent vehicle parameter self-adjusting trajectory tracking system comprises a reference trajectory module, a longitudinal control system (comprising a vehicle speed prediction control module and an upper-layer MPC module) and a vehicle dynamics model. The output of the reference trajectory module comprises a road curvature k, a road adhesion coefficient mu, a reference longitudinal vehicle speed vr and a reference longitudinal acceleration ar; the input of the vehicle speed prediction control module comprises k, mu and vr; the output of the vehicle speed prediction control module comprises a predicted longitudinal vehicle speed vq; the output of the vehicle dynamics model comprises the real-time longitudinal vehicle speed vx and the real-time acceleration ax of the vehicle; the input of the upper MPC module comprises ar, vq, vx and ax; the output of the upper-layer MPC module comprises expected acceleration ades; the intelligent vehicle comprises the system. The system is simple in structure, and the problem that in the prior art, a longitudinal control system does not have the capacity of self-adaption to road condition changes and self-adjustment is solved.
本发明公开了一种基于路况的智能车参数自调整轨迹跟踪系统及智能车,包括参考轨迹模块、纵向控制系统(包括车速预测控制模块和上层MPC模块)和车辆动力学模型;参考轨迹模块的输出包括道路曲率k、道路附着系数μ、参考纵向车速vr、参考纵向加速度ar;车速预测控制模块的输入包括k、μ、vr;车速预测控制模块的输出包括预测纵向车速vq;车辆动力学模型的输出包括车辆实时的纵向车速vx、车辆实时加速度ax;上层MPC模块的输入包括ar、vq以及vx和ax;上层MPC模块的输出包括期望加速度ades;智能车包含前述系统。本发明的系统结构简单,解决了现有技术中纵向控制系统不具备自适应路况变化而自调整的能力的问题。
Intelligent vehicle parameter self-adjusting trajectory tracking system based on road condition and intelligent vehicle
一种基于路况的智能车参数自调整轨迹跟踪系统及智能车
2023-08-15
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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