The invention relates to the technical field of automobiles, in particular to a commercial vehicle MPC lane keeping control method considering parameter estimation, and the method comprises the steps: firstly building a vehicle transverse and longitudinal dynamic model; secondly, estimating the transverse speed and the quality of the vehicle through extended Kalman filtering (EKF) and a recursive least square method (RLS); and taking the estimated vehicle parameters as input parameters, establishing an MPC lane keeping controller, and calculating an optimal front wheel steering angle. And finally, aiming at different states of the steering dead zone, designing a compensation strategy based on the yaw angle error. A simulation experiment verifies that the cost of the sensor can be reduced to a certain extent, meanwhile, the tracking precision is improved, and the problems that in the existing lane keeping technology, the transverse speed and quality of a commercial vehicle are difficult to directly measure, and the dead zone range of a steering mechanism is large are solved.

    本发明涉及汽车技术领域,具体涉及一种考虑参数估计的商用车MPC车道保持控制方法,首先建立车辆横向和纵向动力学模型;其次,通过扩展卡尔曼滤波(EKF)和递推最小二乘法(RLS)分别对车辆的横向速度、质量进行估计;将估计的车辆参数作为输入参数,建立MPC车道保持控制器,计算出最优前轮转角。最后针对转向死区不同状态,基于横摆角误差,设计补偿策略。经仿真实验进行验证,本发明可以在一定程度上降低传感器成本,同时提高了跟踪精度,解决了现有车道保持技术中的商用车横向速度和质量难以直接测量,以及转向机构死区范围较大的问题。


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    Title :

    Commercial vehicle MPC lane keeping control method considering parameter estimation


    Additional title:

    一种考虑参数估计的商用车MPC车道保持控制方法


    Contributors:
    JING HUI (author) / MA GUO (author) / XU HAIJUN (author) / ZHAO CHONGQIN (author) / TANG RONGJIANG (author) / KUANG BING (author) / CHEN HUCHENG (author) / LIU FUYUN (author)

    Publication date :

    2024-01-30


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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