A lateral control method and system based on collaborative estimation of multi-state parameters

Abstract

The invention discloses a lateral control method based on cooperative estimation of multi-state parameters. The method includes: step 1, setting the first observation quantity related to the vertical force on the axle, the first pre-measurement, and the first measurement based on the longitudinal position of the center of mass of the vehicle. The state vector of the vehicle estimates the longitudinal position of the center of mass of the vehicle; step 2, setting the second observed quantity related to the vehicle motion information, the second predicted quantity, the state vector based on the tire cornering stiffness, and the state vector corresponding to the tire cornering stiffness The third pre-measurement, the third pre-measurement, the state quantity based on the road surface adhesion coefficient, decouple the tire cornering stiffness and the road surface adhesion coefficient, and estimate the tire cornering stiffness and the tire road surface adhesion coefficient; Step 3, set the correlation with the longitudinal acceleration The fourth observation, the fourth prediction, and the state vector based on the tire vertical force estimate the tire vertical force; step 4, according to the estimated longitudinal position of the center of mass and vehicle motion information, tire cornering stiffness and tire-road adhesion coefficient , and tire vertical force to control the vehicle laterally. The invention can carry out multi-parameter decoupling and joint estimation of the vehicle and the road surface, and at the same time combine lateral dynamics control to improve vehicle control accuracy and lateral stability.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle state parameter estimation and lateral dynamics control, in particular to a lateral control method and system based on multi-state parameter cooperative estimation. Background technique [0002] The estimation of vehicle state parameters is one of the key issues in the realization of vehicle automatic driving functions. The realization of key functions of automatic driving such as vehicle lateral / longitudinal dynamics control, path planning, and vehicle trajectory prediction requires the use of accurate state parameters to accurately control the vehicle and tires. modeling. Since self-driving vehicles are generally equipped with some basic standard sensors, such as inertial navigation system (IMU) and differential global positioning system (DGPS), state parameters such as vehicle lateral / longitudinal speed and center of mass sideslip angle can be directly measured. However, for vehicl...

AI Technical Summary

Problems solved by technology

[0004] Although the existing methods have proposed vehicle state parameter estimation and lateral control methods from different angles, there are still some deficiencies: only single parameter estimation and fixed parameter models are considered, single factors are considered, lack of overall consideration, and the multi-parameter solution of the model is not considered. Influence of time-varying coupling and state parameters on lateral control

Images