The invention discloses an automobile adaptive cruise control method considering a road adhesion coefficient. The method comprises a data preprocessing module, a multi-source dynamics information fusion module, a road adhesion coefficient estimation module and an input constraint H-infinity controller. The data preprocessing module is used for processing data of sensors such as a GPS, an IMU and a wheel speed sensor and removing influences such as data noise, drifting and misdetection; the multi-source dynamics information fusion module fuses the preprocessed multi-source dynamics information by using a Kalman filtering algorithm to obtain more accurate vehicle dynamics information; the road adhesion coefficient estimation module is used for estimating a road adhesion coefficient by using a quadratic programming algorithm; and the input constraint H-infinity controller takes the road adhesion coefficient as an input constraint, and the stability and robustness of the adaptive cruise control system are ensured by using an H-infinity control method.

    一种考虑路面附着系数的汽车自适应巡航控制方法,该方法包括数据预处理模块、多源动力学信息融合模块、路面附着系数估计模块和输入约束H∞控制器。数据预处理模块用于处理GPS、IMU和轮速传感器等传感器的数据,去除数据噪声、漂移和误测等影响;多源动力学信息融合模块使用卡尔曼滤波算法,将预处理后的多源动力学信息进行融合,以得到更为准确的车辆动力学信息;路面附着系数估计模块使用二次规划算法,用于估计路面附着系数;输入约束H∞控制器将路面附着系数作为输入约束,使用H∞控制方法,保证自适应巡航控制系统的稳定性和鲁棒性。


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    Title :

    Self-adaptive cruise control method considering road adhesion coefficient


    Additional title:

    一种考虑路面附着系数的自适应巡航控制方法


    Contributors:
    YANG JIN-HO (author) / FANG RUIQI (author) / WANG FA'AN (author) / LU YANBO (author) / FENG JIWEI (author) / YIN GUODONG (author) / JIANG SHIFEI (author)

    Publication date :

    2024-06-04


    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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