Method and system for intelligent driving horizontal and vertical decoupling control of great inertia electric motor coach

An electric bus, intelligent driving technology, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control and other directions

Active Publication Date: 2017-05-17
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a method and system for intelligent driving horizontal and vertical decoupling control of large-inertia electric buses to solve the defects or deficiencies in the above-mentioned existing theories and designs; Inertia, by adding a preview and estimation algorithm to the lateral controller, fully consider the road conditions and the large inertia of the passenger car steering system for the given speed, realize horizontal and vertical decoupling control, simplify the design of the controller, and improve the control accuracy

Method used

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  • Method and system for intelligent driving horizontal and vertical decoupling control of great inertia electric motor coach
  • Method and system for intelligent driving horizontal and vertical decoupling control of great inertia electric motor coach
  • Method and system for intelligent driving horizontal and vertical decoupling control of great inertia electric motor coach

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Embodiment 2

[0159] This embodiment 2 sets v th =2m / s, the starting control flow is: (1) if v r = 0, v d = 2m / s, v th =1m / s, let v target =v th =1m / s; (2) The vehicle speeds up gradually, when v r ≥v th , launch control ends, at v d V is always given without changing target =v d = 2m / s.

[0160] (6b) The vehicle needs to speed up while driving, and the control model is as follows:

[0161] if v d ≤(v r +1), then let v target =v d ;

[0162] if v d >(v r +1), then let v target =v r +1;

[0163] In Example 2, when the vehicle enters the straight from the curve, the target speed v d From 1m / s to 2m / s, at this time v target =v d =2m / s, the vehicle starts to accelerate; when v r ≥v d When , the vehicle ends the acceleration behavior, v target =2m / s remains unchanged; at the same time, let a=0 in both acceleration and constant speed maintaining phases.

[0164] (6c) When the vehicle receives a deceleration signal while driving, the control model is as follows:

[0165]...

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Abstract

The present invention discloses a method and system for intelligent driving horizontal and vertical decoupling control of a great inertia electric motor coach. The method comprises the following steps: the step 1: establishing a coordinate system and setting an expected track and an expected speed according to a vehicle; the step 2: calculating an expected front-wheel course angle through a preview model; the step 3: calculating the real0-time front-wheel course angle of the vehicle; the step 4: calculating the estimated course angle of the vehicle; the step 5: calculating the course deviation and calculating the controlled quantity of a steering wheel according to the control rate; the step 6: calculating a vertical controller driving speed and a braking deceleration; and the step 7: inputting the controlled quantity into an execution mechanism to realize response control. The method for the intelligent driving horizontal and vertical decoupling control of the great inertia electric motor coach improves the control precision of tracking the expected track of the great inertia electric motor coach in the driverless environment, optimizes the control structure, effectively overcome the great inertia and the hysteresis quality and improve the response speed and the tracking effect of the control of the great inertia unmanned coach.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving and its control, and in particular relates to a method and system for intelligent driving horizontal and vertical decoupling control of a large-inertia electric bus. Background technique [0002] Once a traffic accident occurs on a passenger car, the loss will be relatively heavy, and most of the mass deaths and injuries occur in the traffic accident of the passenger car. Many traffic accidents are caused by factors such as man-made, weather, and road conditions. In order to get rid of these unsafe factors, more and more safety technologies have appeared in front of the world. In China alone, more than 80,000 people become victims of traffic accidents every year, and the economic loss of collisions is hundreds of billions of yuan every year, and driver's wrong driving accounts for 90% of the collision accidents. Self-driving cars can effectively reduce traffic accidents caused by factors...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0278G05D2201/0212
Inventor 余伶俐李路尤作龙子威莫斯尧夏旭梅孔德成邵玄雅
Owner CENT SOUTH UNIV
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