The invention discloses a transverse adaptive control method and device applied to emergency lane keeping. The method comprises the following steps: determining that an emergency lane keeping function is activated; the yaw velocity of the vehicle is obtained and integrated to obtain a yaw angle, and the yaw angle is input into a yaw angle PID controller to obtain a first rotation angle; determining the course angle of the vehicle, and inputting the course angle into the adaptive PID controller to obtain a second rotation angle; the first turning angle and the second turning angle are overlapped and subjected to amplitude limiting to obtain a target turning angle, and the target turning angle is output to a vehicle steering mechanism to control vehicle steering; and determining that the adjustment conditions of the adaptive control parameters are met, acquiring the actual response corner, the lateral speed and the steering wheel torque of the vehicle by the parameter observer, and adaptively adjusting the control parameters of the adaptive PID controller according to the actual response corner, the lateral speed and the steering wheel torque of the vehicle. According to the invention, the problem of poor adaptability to actual disturbance and mechanical deviation caused by using solidified control parameters in the emergency lane keeping function is solved.
本发明公开了一种应用于紧急车道保持的横向自适应控制方法及装置,该方法包括:确定紧急车道保持功能激活;获取车辆的横摆角速度并对其进行积分得到横摆角,将横摆角输入至横摆角PID控制器得到第一转角;确定车辆的航向角,将航向角输入至自适应PID控制器得到第二转角;将第一转角与第二转角叠加并限幅得到目标转角,将目标转角输出给车辆转向机构控制车辆转向;确定自适应控制参数的调整条件满足,参数观测器获取车辆实际响应转角、侧向速度以及方向盘扭矩,根据车辆实际响应转角、侧向速度以及方向盘扭矩自适应调整自适应PID控制器的控制参数。本发明解决了紧急车道保持功能使用固化的控制参数对实际扰动和机械偏差造成的适应性差的问题。
Transverse adaptive control method and device applied to emergency lane keeping
一种应用于紧急车道保持的横向自适应控制方法及装置
2024-07-12
Patent
Electronic Resource
Chinese
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