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A horizontal and vertical decoupling control method and system for intelligent driving of a large inertia electric bus

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

Active Publication Date: 2019-05-24
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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  • A horizontal and vertical decoupling control method and system for intelligent driving of a large inertia electric bus
  • A horizontal and vertical decoupling control method and system for intelligent driving of a large inertia electric bus
  • A horizontal and vertical decoupling control method and system for intelligent driving of a large inertia electric bus

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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 invention discloses an intelligent driving horizontal and vertical decoupling control method and system for a large inertia electric bus, which includes the following steps: Step 1: Establish a coordinate system based on the vehicle and set the desired trajectory and speed; Step 2: Use a preview model to Calculate the desired front wheel heading angle; step three, calculate the vehicle's real-time front wheel heading angle; step four, calculate the vehicle's estimated heading angle; step five, calculate the heading deviation and calculate the steering wheel control amount based on the control rate; step six, calculate the longitudinal controller Driving speed and braking deceleration; step seven, input the control value into the actuator to achieve control response. This method improves the control accuracy of tracking the desired trajectory of a large inertia bus in an unmanned driving environment, optimizes the control structure, effectively overcomes its large inertia and hysteresis, and improves the response speed and tracking effect of large inertia driverless bus control.

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 Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0278
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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