The invention discloses an adaptive longitudinal and transverse cooperative control method based on pavement parameter identification, and the method comprises the steps: building a nonlinear three-degree-of-freedom vehicle dynamics model; secondly, designing a Kalman filtering state observer on the basis of the vehicle dynamics model, and observing the unknown state of the vehicle on line; then, establishing a Dugoff tire model, and estimating a road adhesion coefficient by using a vehicle measurement state; finally, according to different road complexity degrees, self-adaptive longitudinal and transverse cooperative control is carried out for linear or turning driving, and the purpose of safe driving of the unmanned vehicle on an unknown unstructured road is achieved. The self-adaptive prediction control method based on pavement parameter identification is easy to implement, high in robustness and suitable for complex road working conditions, the longitudinal and transverse motion cooperative control precision of the vehicle under the complex road working conditions is improved, and compared with a traditional longitudinal and transverse cooperative control method, the self-adaptive prediction control method has higher adaptability in road condition and time.

    本申请公开一种基于路面参数识别自适应纵横向协同控制方法,首先,建立非线性三自由度车辆动力学模型;其次,在车辆动力学模型的基础上设计卡尔曼滤波状态观测器,对车辆未知状态在线观测;然后,建立Dugoff轮胎模型,利用车辆测量状态对路面附着系数进行估计。最后,根据道路复杂程度不同,针对直线或转弯行驶,进行自适应纵横向协同控制,达到无人驾驶车辆在未知非结构化道路上安全行驶的目的。该基于路面参数识别自适应预测控制方法,易于实现,鲁棒性强,适用于复杂道路工况,提升车辆在复杂道路工况下的纵横向运动协同控制精度,相对于传统的纵横向协同控制方法在路况与时间上更具有自适应性。


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    Title :

    Self-adaptive longitudinal and transverse cooperative control method based on pavement parameter identification


    Additional title:

    一种基于路面参数识别自适应纵横向协同控制方法


    Contributors:
    SUN ZEYU (author) / WU JUN (author) / LI SONG (author) / DING RENKAI (author) / WANG RUOCHEN (author) / GUO YIFAN (author) / MENG XIANGPENG (author)

    Publication date :

    2024-08-02


    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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