The invention belongs to the technical field of intelligent vehicle motion control, and particularly relates to an intelligent vehicle transverse control method with a vehicle attitude prediction function, and the method comprises the steps: collecting data; obtaining transverse and directional error data at the preview point according to the collected data; according to the corresponding data, acquiring steering wheel turning angle change trend data of the vehicle running from the current position to the preview point; according to the corresponding data, acquiring variation trend data of a yaw angle, a pitch angle and a roll angle of the vehicle; according to the method, an active vehicle body attitude control algorithm and a preview distance adaptive algorithm are introduced into a traditional path tracking controller, and different current vehicle body attitudes are tracked to flexibly select active control of the vehicle body attitude or optimization of the preview distance. The vehicle body posture is passively optimized, the vehicle riding comfort can be optimized in advance, formation safety is guaranteed, and meanwhile vehicle energy consumption can be reduced through flexible intervention of vehicle body posture control.
本发明属于智能车辆运动控制技术领域,具体涉及一种带有车辆姿态预测的智能车辆横向控制方法,本方法包括:采集数据;根据采集的数据获取预瞄点处的横向和方向误差数据;根据相应数据获取车辆从当前位置行驶至预瞄点的方向盘转角变化趋势数据;根据相应数据获取车辆横摆角、俯仰角、侧倾角变化趋势数据;根据相应数据,调节悬架以消除俯仰角、侧倾角,或优化预瞄点距离数据,本方法在传统路径跟踪控制器中引入了主动车身姿态控制和预瞄距离自适应算法,并跟踪当前车身姿态的不同灵活选择主动控制车身姿态或优化预瞄距离,被动优化车身姿态,可以提前优化车辆乘坐舒适性,保证形成安全,同时,车身姿态控制灵活介入可以降低车辆能耗。
Intelligent vehicle transverse control method with vehicle attitude prediction function
带有车辆姿态预测的智能车辆横向控制方法
2023-10-03
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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