The invention discloses an identification and compensation control method for steering delay of an automatic driving semi-trailer, and the method comprises the steps: achieving a complete'delay identification-corner compensation 'closed-loop link through the cooperation of a steering delay identification module, an expected yaw velocity calculation module, a recursive preview calculation module and a compensation control module; the overall time delay of an electric steering engine system, a mechanical transmission link and a wheel edge execution link is considered, identification of different abrasion degrees of the steering mechanism of the automatic driving semitrailer in batch operation is achieved, control over the state of an execution mechanism is improved, effective compensation control over steering delay is carried out, and the stability of the steering mechanism is improved. By means of the method, high control precision and stability can still be guaranteed under the conditions that the accumulated operation mileage of the automatic driving semitrailer is large and a steering link is abraded and declines, a new thought is provided for motion control of the automatic driving semitrailer in batch operation, and the method has important reference significance for design and optimization of the overall framework of an automatic driving platform.

    本发明公开一种自动驾驶半挂车辆转向延迟的辨识与补偿控制方法,通过转向延迟辨识模块、预期横摆角速度计算模块、递推预瞄计算模块和补偿控制模块的配合,实现完整的“延迟辨识—转角补偿”闭环链路,考虑电动转向机系统、机械传递链路、轮边执行链路的整体时间延迟,实现批量运营自动驾驶半挂车转向机构的不同磨损程度的辨识,提升了对执行机构状态的把控,对转向延迟进行有效的补偿控制,能够使自动驾驶半挂卡车在累积运营里程较多、转向链路出现磨损衰退的情况下,依然保证较高的控制精度和稳定性,为批量化运营自动驾驶半挂车的运动控制提供了新思路,对自动驾驶平台整体架构的设计与优化具有重要的参考意义。


    Access

    Download


    Export, share and cite



    Title :

    Identification and compensation control method for steering delay of automatic driving semi-trailer


    Additional title:

    一种自动驾驶半挂车辆转向延迟的辨识与补偿控制方法


    Contributors:
    YE YUBO (author) / ZHANG ZHIDA (author) / XU ZHENGHAO (author) / ZENG CHAO (author) / AN KAI (author) / LIU FENG (author)

    Publication date :

    2023-12-22


    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



    Steering method and device for semi-trailer train in automatic driving and electronic equipment

    ZHANG YULONG / LI HUI / XIAO HONG et al. | European Patent Office | 2022

    Free access

    Semi-trailer tractor steering device

    GE LIUYUN / YU XUDONG / ZHAO JING et al. | European Patent Office | 2015

    Free access

    SEMI-TRAILER HAVING STEERING AXLES

    LUKKA RAUNO / TUVIKENE RASMUS / TOOMING JANNO | European Patent Office | 2019

    Free access

    Semi-trailer with accurate steering function

    ZHU QI AN | European Patent Office | 2015

    Free access

    METHODS, SYSTEMS, AND APPARATUSES FOR IDENTIFICATION AND COMPENSATION OF TRAILER IMPACTS ON STEERING DYNAMICS FOR AUTOMATED DRIVING

    SHAHRIARI MOHAMMADALI / TAKHMAR AMIR / ZARRINGHALAM REZA et al. | European Patent Office | 2022

    Free access