The invention is suitable for the technical field of vehicle control, and provides a vehicle transverse and longitudinal optimization control method suitable for a curve cruise scene, a model based on a Frenet coordinate system is used for establishment, and the control effect is better than that of control under a traditional geodetic coordinate system. According to the method, the problem of curve adaptive cruise is solved by using the LQR algorithm, and the comfort index and the most important real-time index in engineering application are also considered. Longitudinal control strictly tracks the changed safe vehicle distance under the condition that the relative speed is kept low in the aspect of safe vehicle distance processing, two contradictory indexes of keeping the relative speed between the vehicles and the relative distance between the vehicles are properly processed, and hierarchical control is better than traditional straight-through type control in the aspect of longitudinal control.

    本发明适用于车辆控制技术领域,提供了一种适用于弯道巡航场景下的车辆横纵向优化控制方法,使用基于Frenet坐标系下的模型建立,控制效果优于传统的大地坐标系下的控制。本发明不仅使用LQR算法解决了弯道自适应巡航问题,还兼顾了舒适性指标以及工程运用中最重要的实时性指标。纵向控制在安全车距处理上更是在保持相对速度较小的情况下严格跟踪变化的安全车距,对保持车间相对速度和车间相对距离两种矛盾性指标进行妥善处理,在纵向控制上使用分层控制更是优于传统的直通式控制。


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    Title :

    Vehicle transverse and longitudinal optimization control method suitable for curve cruise scene


    Additional title:

    一种适用于弯道巡航场景下的车辆横纵向优化控制方法


    Contributors:
    CHEN HAOWEN (author) / YU HONGXUAN (author) / SUN DAZHEN (author) / LIU QIFANG (author) / CHEN HONG (author)

    Publication date :

    2023-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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