The invention relates to the technical field of vehicle automatic driving, and provides an intelligent vehicle autonomous cruise control method, which comprises the following steps of: determining a control requirement and an expected speed of a controlled vehicle, establishing a workshop kinematics model, designing an acceleration controller based on an LQR theory, and calculating an expected acceleration; calculating an expected driving force according to the expected acceleration; determining a driving/braking mode according to the expected driving force, and calculating an expected engine torque; according to the deviation between the expected speed and the actual speed of the controlled vehicle, the engine torque compensation amount and the acceleration compensation amount based on the feedback IP are calculated; adding the engine torque compensation amount and the expected engine torque to obtain a first final control amount, and adding the acceleration compensation amount and the expected acceleration to obtain a second final control amount; and the first final control quantity and the second final control quantity are fed back to an actuator, the actuator adjusts control data of the controlled vehicle, and the speed control precision and the driving comfort of the controlled vehicle are improved.

    本发明涉及车辆自动驾驶技术领域,提供一种智能车辆自主巡航控制方法,包括如下步骤:确定被控车辆的控制要求和期望速度,建立车间运动学模型,设计基于LQR理论的加速度控制器,计算期望加速度;根据期望加速度计算期望驱动力;根据期望驱动力确定驱动/制动模式,计算期望发动机转矩;根据被控车辆的期望速度和实际速度的偏差,计算基于反馈IP的发动机转矩补偿量和加速度补偿量;将发动机转矩补偿量与期望发动机转矩相加得到第一最终控制量,将加速度补偿量与期望加速度相加得到第二最终控制量;将第一最终控制量和第二最终控制量反馈至执行器,执行器调节被控车辆的控制数据,本发明提高了被控车辆的速度控制精度和行驶的舒适性。


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    Title :

    Intelligent vehicle autonomous cruise control method


    Additional title:

    一种智能车辆自主巡航控制方法


    Contributors:
    PAN SHIJU (author) / ZHU YUAN (author) / LOU JINGTAO (author) / YE PENG (author) / LI YONGLE (author) / LI JIANSHI (author)

    Publication date :

    2025-01-03


    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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