The invention discloses a driving and braking redundancy cooperative control method for a full-vector power chassis automobile, relates to the technical field of automobile driving and braking automatic control, and solves the problems that a driving and braking control strategy of an existing full-vector power chassis automobile is not comprehensively considered, and the computing power requirement cannot be well reduced. According to the method, the upper layer calculates the longitudinal moment and the yawing moment required by the vehicle, and the lower layer distributes the longitudinal moment and the yawing moment sent by the upper layer controller in a rule and table look-up combined mode. An intelligent evolution method is used for training an upper-layer actuator neural network and a lower-layer actuator neural network, reinforcement learning control from the vehicle state to instruction output is achieved, the links of signal collection, calculation processing, output execution and the like of a control system are simplified to the maximum degree, particularly the hysteresis effect of the calculation processing link is simplified, and the control efficiency and precision are improved; the economical efficiency, safety and stability of the vehicle in the whole life cycle operation process are guaranteed.
本发明公开一种全矢量动力底盘汽车驱制动冗余协同控制方法,涉及汽车驱制动自动控制技术领域,解决现有全矢量动力底盘汽车的驱制动控制策略考虑不够全面并且无法很好降低算力要求的问题,本发明上层对车辆需求纵向力矩和横摆力矩进行计算,下层采用规则与查表结合的方式对上层控制器发出的纵向力矩和横摆力矩进行分配。运用智能进化方法训练上下层执行器神经网络,实现了基于车辆状态到指令输出的强化学习控制,最大程度简化了控制系统“信号采集‑计算处理‑输出执行”等环节,尤其是计算处理环节的迟滞效应,提高了控制效率和精度;以保障车辆全生命周期运行过程中的经济性、安全性和稳定性。
Full-vector power chassis automobile driving and braking redundancy cooperative control method
一种全矢量动力底盘汽车驱制动冗余协同控制方法
2024-12-13
Patent
Electronic Resource
Chinese
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