The invention discloses an automatic driving vehicle speed control method suitable for an ice and snow curve road surface, which comprises the following steps: calculating external resistance of a tire on an ice and snow road surface according to a coupling relationship between the tire and the ice and snow road surface, and determining main influence factors on vehicle driving; the external resistance is mainly provided by rolling resistance; on the basis of a vehicle-tire-ice coupling mechanism, the pressure of a brake master cylinder is calculated according to the effective diameter of the brake master cylinder, the stress of the brake master cylinder and the ice and snow pavement safety steering vehicle speed, and the vehicle speed is adjusted by controlling the pressure of the master cylinder; according to the coupling relation between the vehicle and the ice and snow road surface, an automatic driving vehicle two-degree-of-freedom dynamic model containing the ice and snow curve road surface low adhesion coefficient is established, and the yaw velocity of the vehicle is restrained. According to the method, whole-process modeling and simulation are carried out from a vehicle-tire-ice coupling perspective, the steering speed control problem of the automatic driving vehicle on an ice and snow road surface is solved, and the problems of steering speed fluctuation and driving sideslip risks in an ice and snow curve scene are solved.
本发明公开了一种适用于冰雪弯道路面的自动驾驶车辆速度控制方法,包括:根据轮胎与冰雪路面的耦合关系,计算轮胎在冰雪路面上的外部阻力,确定对车辆行驶的主要影响因素;外部阻力主要由滚动阻力提供;基于车‑胎‑冰耦合机制,根据制动主缸有效直径、制动主缸受力与冰雪路面安全转向车速计算制动主缸压力,以通过控制主缸压力调整车辆速度;根据车辆与冰雪路面的耦合关系,建立包含冰雪弯道路面低附着系数的自动驾驶车辆二自由度动力学模型,对车辆的横摆角速度进行约束。本发明从车‑胎‑冰耦合视角进行全过程建模与仿真,解决了自动驾驶车辆在冰雪路面上转向速度控制的问题,克服了冰雪弯道场景的转向速度波动、行驶侧滑风险的问题。
Automatic driving vehicle speed control method suitable for ice and snow curve road surface
适用于冰雪弯道路面的自动驾驶车辆速度控制方法
2024-09-20
Patent
Electronic Resource
Chinese
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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