According to the driving robot vehicle speed tracking method based on the lifting technology, the complex vehicle speed control process is approximated to be a first-order continuous single-input and single-output model for research, unknown vehicle parameters in the model are estimated in an approximate fitting mode, and the parameter estimation and modeling difficulty is lowered; secondly, considering the characteristics of a vehicle large inertial system, considering the influence of past pedal input on the current vehicle speed, and establishing an augmented system model considering the influence of past control quantity on real-time speed response by adopting a lifting technology; therefore, on the premise that the speed precision is guaranteed, the problem of poor smoothness caused by vehicle speed response delay and the problem of vehicle shaking caused by frequent treading of a brake pedal and an accelerator pedal can be solved, and therefore the smoothness of vehicle speed control is improved.
本发明提供一种基于提升技术的驾驶机器人车速跟踪方法,将复杂的车辆速度控制过程近似为一阶连续单输入、单输出模型进行研究,采用近似拟合的方式估计出模型中未知的车辆参数,使得参数估计和建模难度降低;然后考虑车辆大惯性系统的特点,考虑过往的踏板输入对于当前车速的影响,并采用提升技术建立了考虑过往控制量对实时速度响应影响的增广系统模型;因此,本发明能够在保证速度精度的前提下,解决车速响应延时带来的平滑性变差的问题,以及由于刹车、油门踏板的踩踏频繁导致的车辆抖动问题,从而提升车速控制的平滑性。
Driving robot vehicle speed tracking method based on lifting technology
一种基于提升技术的驾驶机器人车速跟踪方法
2023-10-31
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 / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
Lifting system of intelligent driving vehicle and control method of lifting system
European Patent Office | 2022
|European Patent Office | 2022
|