The invention discloses an unmanned heavy truck longitudinal adaptive control method based on sliding mode control, which comprises the following steps of: firstly, establishing a longitudinal motion model of a vehicle based on a vehicle longitudinal layered motion control framework; secondly, a vehicle controller is designed based on the vehicle longitudinal motion model, longitudinal planning information is obtained from spatio-temporal trajectory points issued through planning, closed-loop feedback control is conducted on longitudinal motion of the vehicle based on the information, and therefore the accelerator percentage of a driving engine and the deceleration of a braking system are coordinated; therefore, the longitudinal motion state of the vehicle is adjusted, the expected speed of the target trajectory point can be accurately tracked, and the purpose of keeping the vehicle running safe and stable is achieved. According to the method, high-frequency oscillation possibly caused by traditional sliding mode control can be effectively overcome, the robustness of the system is improved, the stability and adaptability of longitudinal control of the unmanned heavy truck are improved, and the vehicle can more reliably and stably execute tasks in different driving scenes.

    本发明公开了一种基于滑模控制的无人重卡纵向自适应控制方法,首先基于车辆纵向分层运动控制架构,建立车辆的纵向运动模型;其次,基于车辆纵向运动模型设计车辆控制器,通过从规划下发的时空轨迹点中获取纵向规划信息,并基于该信息对车辆的纵向运动进行闭环反馈控制,以达到协调驱动发动机的油门百分比和制动系统的减速度,从而调整车辆的纵向运动状态,使其能够准确地跟踪目标轨迹点的期望速度,并保持车辆行驶的安全和平稳的目的。本发明能够有效克服传统滑模控制可能引起的高频振荡,提高系统的鲁棒性,提高了无人重卡纵向控制的稳定性和适应性,使得车辆在不同驾驶场景下能够更加可靠、平稳地执行任务。


    Access

    Download


    Export, share and cite



    Title :

    Longitudinal self-adaptive control method for unmanned heavy truck based on sliding mode control


    Additional title:

    一种基于滑模控制的无人重卡纵向自适应控制方法


    Contributors:
    AN KAI (author) / ZENG CHAO (author) / XU ZHENGHAO (author) / ZHANG ZHIDA (author) / CHEN ZIJIAN (author) / LIU FENG (author) / XIA JIAOYANG (author) / YANG ZICHAO (author) / ZHANG XIANHONG (author) / KOYO (author)

    Publication date :

    2024-07-12


    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



    Longitudinal following control method for unmanned heavy truck

    HU XINYI / YANG YANG | European Patent Office | 2021

    Free access

    Unmanned mining dump truck TCS control method based on sliding mode control

    WU GUANGQIANG / JIANG SHUHUAI / MAO LIBO et al. | European Patent Office | 2023

    Free access

    Longitudinal Cruise Control of Truck Platoon Based on Distributed Sliding Mode Control Strategy

    Cheng, Feihao / Zheng, Hongyu / Gong, Chaofan et al. | IEEE | 2022


    Longitudinal following holding device for unmanned heavy truck

    GAO CHAO / HOU DONG / WU DONGDONG | European Patent Office | 2022

    Free access

    Heavy truck self-adaptive cab suspension control system and method

    CHEN CHAO / FANG WENHUA / YI LI et al. | European Patent Office | 2024

    Free access