The invention discloses a trajectory tracking control method and device based on a heavy semitrailer, belongs to the technical field of vehicle trajectory control, and is used for solving the technical problems that in the process that an existing heavy semitrailer runs on a diversion ramp, the path tracking precision of a vehicle is poor, the vehicle is prone to deviating from an expected trajectory, and running stability control is not facilitated. The method comprises the following steps: acquiring vehicle operation state parameters and vehicle operation environment parameters of the heavy semitrailer; carrying out tracking and lane changing control on the heavy semitrailer under the condition of related safe vehicle spacing, and generating a vehicle driving strategy; according to the vehicle running environment parameters and the vehicle running strategy, main component analysis optimization is carried out on various vehicle running potential fields in the heavy semitrailer, and a ramp running track and a vehicle transverse and longitudinal tracking control strategy are determined; performing rollover evaluation calculation on the heavy semitrailer to obtain a rollover evaluation index of the whole semitrailer; and carrying out driving stability control calculation on the vehicle running state parameters to obtain a target function and carrying out global optimization control.
本发明公开了一种基于重型半挂车的轨迹跟踪控制方法及设备,属于车辆轨迹控制技术领域,用于解决现有的重型半挂车在分流入匝道行驶过程中,车辆的路径跟踪精度差,容易偏离期望轨迹,不利于行驶稳定控制的技术问题。方法包括:获取重型半挂车的车辆运行状态参数以及车辆运行环境参数;对重型半挂车进行有关安全车间距下的跟踪及换道控制,生成车辆行驶策略;根据车辆运行环境参数以及车辆行驶策略,对重型半挂车中的多种车辆运行势场进行主成分分析优化,确定出匝道行驶轨迹以及车辆横纵向跟踪控制策略;对重型半挂车进行侧翻评价计算,得到整车侧翻评价指标;对车辆运行状态参数进行行驶稳定性控制计算,得到目标函数并进行全局优化控制。
Trajectory tracking control method and device based on heavy semitrailer
一种基于重型半挂车的轨迹跟踪控制方法及设备
2024-05-03
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 |
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