The invention discloses an intelligent trajectory tracking execution method and system based on chassis domain control. In a lateral control aspect: when the vehicle is in a first cruise state, a front wheel steering angle of the vehicle is calculated according to a vehicle driving state and road parameters; when the vehicle is in a second cruise state, constructing a cost function according to the tracking error of the actual trajectory and the expected trajectory of the vehicle and the variable quantity of the front wheel turning angle of the vehicle; and the cost function in the prediction domain is minimized, the optimal variable quantity of the front wheel turning angle of the vehicle at the next moment is predicted, and the front wheel turning angle of the next moment is obtained according to the optimal variable quantity of the front wheel turning angle of the vehicle at the next moment. The chassis domain controller plans the front wheel steering angle time history and the acceleration and deceleration torque and performs signal interaction with the ADAS domain, and the response speed is high; and in response to expected vehicle transverse and longitudinal movement requests given by the L3 level and above ADAS under the full vehicle speed, the multiple chassis and the power multiple actuators are controlled in a safe and comfortable mode to achieve expected vehicle movement.

    本发明公开了一种基于底盘域控的智能轨迹跟踪执行方法和系统。在横向控制方面:当车辆处于第一巡航状态时,根据车辆行驶状态和道路参数计算车辆的前轮转角;当车辆处于第二巡航状态时,根据车辆实际轨迹与期望轨迹的跟踪误差、车辆前轮转角的变化量构建代价函数;最小化预测域内的所述代价函数,预测出下一时刻最优的车辆前轮转角的变化量,根据下一时刻最优的车辆前轮转角的变化量得到下一时刻的前轮转角。本发明通过底盘域控制器规划出前轮转角时间历程和加减速力矩并与ADAS域进行信号交互,响应速度快;响应L3级及以上ADAS给出的全车速下的期望车辆横向与纵向运动请求,以安全和舒适的方式控制多底盘和动力多执行器实现期望车辆运动。


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    Title :

    Intelligent trajectory tracking execution method and system based on chassis domain control


    Additional title:

    一种基于底盘域控的智能轨迹跟踪执行方法和系统


    Contributors:
    YAN TAOWEI (author) / WANG SHIYU (author) / LIU MIAO (author) / QIAN JIAKANG (author)

    Publication date :

    2024-10-11


    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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