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Transverse control method for automatic driving semi-trailer truck adapting to different loads

A technology that adapts to different, automatic driving, applied in the direction of automatic steering control components, control devices, steering mechanisms, etc., can solve the problems of poor adaptability of different trucks, large workload of parameter adjustment, poor adaptability of semi-trailer trucks with or without trailers, etc. The effect of achieving a good tracking effect

Active Publication Date: 2022-04-19
上海宏景智驾信息科技有限公司
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Problems solved by technology

The PID-based feedback control method has the disadvantages of heavy parameter adjustment workload and poor adaptability to different trucks; the model-based feedforward plus feedback control method is very dependent on the accuracy of the model, and the current lateral control model is half Poor adaptability to the empty, half-loaded, full-loaded states of the trailer and the state with or without a trailer

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  • Transverse control method for automatic driving semi-trailer truck adapting to different loads
  • Transverse control method for automatic driving semi-trailer truck adapting to different loads
  • Transverse control method for automatic driving semi-trailer truck adapting to different loads

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Embodiment Construction

[0040] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0041] Such as figure 2 As shown, the present invention proposes a lateral control method for self-driving semi-trailer trucks adapting to different loads, including the steps: step S100, receiving data from the axle load sensor of the truck, and estimating the total vehicle weight and current traction state; step S200 , according to the estimated total vehicle weight and the current traction state, the three-degree-of-...

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Abstract

The invention relates to the technical field of automatic driving, in particular to a transverse control method for an automatic driving semi-trailer truck adapting to different loads, which comprises the following steps: firstly, starting from a signal of an axle load sensor, realizing estimation of the total weight of the whole truck, and further realizing estimation of kinetic parameters of the semi-trailer truck in no-load, half-load and full-load states; therefore, the load adaptability of the device is ensured; besides, an equivalent two-degree-of-freedom model is adopted, through deformation steering correction, the truck can conform to the two-degree-of-freedom dynamic characteristics under the condition that whether a trailer exists or not, and therefore the transverse adaptability of the semitrailer under the condition that whether the trailer exists or not is achieved; and finally, a classic feed-forward and feedback control method is adopted, preview feed-forward input and model-based feedback input are combined, and final transverse control is realized.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to an automatic driving semi-trailer lateral control method adapting to different loads. Background technique [0002] semi trucks, such as figure 1 As shown, it is mainly composed of the front 1 and the semi-trailer 2. Compared with the small car, it has the characteristics that the load varies greatly with the cargo, the control performance of the truck is different with or without a trailer, the mass of the whole vehicle is larger, and the response of the body is slower. . Its automatic driving lateral control method is quite different from that of a small car. However, most of the current lateral control methods for self-driving semi-trailer trucks are based on PID feedback control or model-based feedforward plus feedback control methods to achieve lateral control of trucks. The PID-based feedback control method has the disadvantages of heavy parameter adjustment wo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/00B60W10/20B60W40/13B60W50/00B62D6/00B62D131/00
CPCB60W30/00B60W10/20B60W40/13B60W50/00B62D6/001B62D6/008B60W2050/0019B60W2050/0043B60W2530/10B60W2710/20
Inventor 王凯孙伟林志华董健刘飞龙
Owner 上海宏景智驾信息科技有限公司
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