of a vehicle and a road center line, the course deviation phi<r> of the vehicle and the road center line, the vehicle heading angle speed dot{phi} and the curvature rhoof the road center line are obtained and input into a PID feedback controller and a PID feedforward-feedback controller correspondingly, front wheel rotation angles delta<f1> and delta<f2> of the vehicle are output correspondingly, output values are substituted into an evaluation index prediction model, two sets of corresponding vehicle-road prediction state quantities are obtained, the vehicle-road prediction state quantities are evaluated through a priority-degree evaluating method, the result with the high priority degree is selected, and the front wheel rotation angle corresponding to theresult serves as an output value to be input into a lower-layer controller; and the lower-layer controller calculates a correlation function K(S) through the transverse position deviation e
of thecurrent vehicle and the road center line and the curvature rho of the road center line, delta<f> is coordinated through the correlation function K(S), the coordinated front wheel rotation angle is output to a vehicle-road state spatial equation, and an actual front wheel rotation angle is obtained.
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