A control method for vehicle safety and ride comfort

Abstract

The present invention relates to a control method for vehicle safety and smoothness. Aiming at the characteristics of the vehicle dynamics model and the uncertainty of the vehicle's own parameters and road conditions during operation, the separation method of generalized PID control is used to implement control, which includes: Divide the control input into the integral based on the displacement error, and the input part based on the displacement error, velocity error and acceleration error, introduce the form of variable dynamic adjustment based on the input part of the displacement error integral, and eliminate the uncertain components and external disturbances of the vehicle control system ;Aiming at the controllable ideal mode of the vehicle, select the form of the input part based on the displacement error, velocity error and acceleration error, and determine the coefficients of the displacement error, velocity error and acceleration error, so as to realize the stable control of the ideal mode constituting the system at the origin; Select design parameters to control the safety and ride comfort of the controlled vehicle. The invention can be widely used in the control of vehicle cruise control and unmanned driving.

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...

AI Technical Summary

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 load capacity, self-quality, etc., the existing control methods are difficult to adapt; (3) The control of vehicle acceleration is rarely considered in the original method, and this is an important link to ensure driving comfort (smoothness)

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