Method for controlling safety and smoothness degree of vehicle

A control method and smoothness technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as control with little consideration of vehicle acceleration, adaptability needs to be improved, and control methods are difficult to adapt

Active Publication Date: 2014-12-03
RENMIN UNIVERSITY OF CHINA
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Problems solved by technology

According to the above analysis, there are many problems in the current control method to ensure the safe driving of vehicles: (1) the adaptability to the vehicle operating environment (road conditions) needs to be improved; Such as loa

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  • Method for controlling safety and smoothness degree of vehicle
  • Method for controlling safety and smoothness degree of vehicle
  • Method for controlling safety and smoothness degree of vehicle

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Embodiment Construction

[0055] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0056] The present invention adopts the generalized PID controller obtained based on the separation realization method to control the safety and smoothness of the vehicle. The basic principle is as follows: firstly, the controlled vehicle is regarded as composed of an "uncertain part" and an "ideal part", Among them, the uncertain part includes "changes in the quality of the vehicle itself" and "external disturbances", where "external disturbances" include changes in road conditions and environmental changes. Secondly, construct a generalized PID control form, that is, use the combination of the integral, proportion, derivative and second-order derivative of the error between the actual displacement of the vehicle and the set displacement as the control input. In other words, the integral and ratio of the error between the actual displacement and the ...

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Abstract

The invention relates to a method for controlling safety and the smoothness degree of a vehicle. According o the characteristics of a vehicle dynamics model and parameters of the vehicle and uncertainty of road conditions during running of the vehicle, control is implemented according to a separation implementation method controlled by the generalized PID. The method includes the steps of dividing control input into one input portion based on the integral of displacement errors and the other input portion based on the displacement errors, speed errors and acceleration errors, introducing variables to dynamically regulate the form the input portion based on the integral of the displacement errors, eliminating uncertain components and external interference of a vehicle control system, selecting the form of the input portion based on the displacement errors, the speed errors and the acceleration errors according to the controllable ideal mode of the vehicle, determining the coefficients of the displacement errors, the speed errors and the acceleration errors, achieving stable control over an ideal mode composition system at the original point, selecting design parameters, and controlling safety and the smoothness degree of the controlled vehicle. The method can be widely applied to vehicle cruise control and control over unmanned driving and the like.

Description

technical field [0001] The invention relates to a vehicle control method, in particular to a vehicle safety and ride comfort control method. Background technique [0002] With the improvement of people's performance requirements for vehicle driving safety and comfort, the research on vehicle intelligent driving and various driver assistance systems has gradually deepened in various countries. As an important aspect of the development of Advanced Vehicle Control Safety System (AVCSS), Automotive Adaptive Cruise Control (hereinafter referred to as ACC, Adaptive Cruise Control) system has attracted the attention of the industry. The automotive ACC system is developed on the basis of traditional cruise control technology. As a driver assistance system, the automotive ACC system is designed to partially replace the driver under appropriate traffic conditions and to perform reasonable longitudinal control of the vehicle. , to improve the active safety and ride comfort of the vehi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 王伟
Owner RENMIN UNIVERSITY OF CHINA
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