The invention relates generally to an adjustment method, a computer program product and a controller (28) for a motor vehicle (24). The adjustment method is designed to perform cooperative vehicle transverse guidance of a motor vehicle (24) with respect to a reference trajectory by means of a total adjustment circuit (12) of a vehicle adjustment unit (26). The main control circuit (12) has a first control module (18) and a second control module (20). The first adjustment module (18) has a dynamic pre-adjustment device (14) with a virtual adjustment circuit (22), which is designed to take into account a steering wheel state that is based on a manual steering input for influencing the transverse guidance of the vehicle. The second control module (20) has a non-linear, adaptive, model-predictive controller which is designed to compensate for at least one unknown estimated disturbance state which is based on at least one disturbance variable which causes a deviation of the transverse guidance of the vehicle from the reference trajectory.
本发明总体涉及调节方法、计算机程序产品和用于机动车(24)的控制器(28)。调节方法设计用于借助运输工具调节单元(26)的总调节回路(12)关于参考轨迹对机动车(24)进行协同的运输工具横向引导。总调节回路(12)具有第一调节模块(18)和第二调节模块(20)。第一调节模块(18)具有包括虚拟调节回路(22)的动态预调装置(14),其设计用于考虑转向盘状态,该转向盘状态以用于影响运输工具横向引导的手动转向输入为基础。第二调节模块(20)具有非线性的、自适应的、模型预测的调节器,其设计用于补偿至少一个未知的估计的干扰状态,该干扰状态以至少一个干扰参量为基础,该干扰参量引起运输工具横向引导与参考轨迹的偏差。
Collaborative vehicle lateral guidance adjustment, computer program product and controller for motor vehicle
协同的运输工具横向引导调节、计算机程序产品和用于机动车的控制器
2024-12-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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