The invention relates to a front-wheel or four-wheel steering self-adaptive control method based on road features, and the method comprises the specific steps: obtaining the steering capability feature data of a target road sweeper, and calculating a minimum execution reference trajectory smin through the steering capability feature data of the target road sweeper; obtaining a reference trajectory mileage length sref, and comparing the reference trajectory mileage length sref with a minimum execution reference trajectory smin; when sref is smaller than or equal to smin, the current steering mode of the target road sweeper is kept unchanged; when srefgt; if yes, further calculating the average curvature kavg of the road in the minimum execution reference trajectory smin; according to the size relation between the average curvature kavg and the steering reference curvature kfws of the front wheels of the target road sweeper, the steering mode needed by the target road sweeper is switched; according to the steering mode of the target road sweeper, the optimal control law of steering of the road sweeper is designed based on the linear optimal quadratic form, the minimum transverse error serves as an optimization target, and steering instructions of front and rear wheels of the sweeper are obtained by solving the Riccati equation.
本发明涉及一种基于道路特征的前轮或四轮转向自适应控制方法,具体步骤包括:获取目标道路清扫车转向能力特征数据,利用目标道路清扫车转向能力特征数据计算最小执行参考轨迹smin;获取参考轨迹里程长度sref,并与最小执行参考轨迹smin作比较;当sref≤smin时,目标道路清扫车的当前转向模式保持不变;当sref>smin时,进一步计算最小执行参考轨迹smin内道路的平均曲率kavg;根据平均曲率kavg与目标道路清扫车前轮的转向参考曲率kfws间的大小关系,切换目标道路清扫车所需使用的转向模式;根据目标道路清扫车的转向模式,基于线性最优二次型设计道路清扫车转向的最优控制律,以最小横向误差为优化目标,通过求解黎卡提方程获得清扫车前后轮的转向指令。
Front wheel or four-wheel steering self-adaptive control method based on road characteristics
一种基于道路特征的前轮或四轮转向自适应控制方法
2024-08-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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