CN108177652A - The track keeping method and system of a kind of four-wheel steering delivery vehicle - Google Patents
The track keeping method and system of a kind of four-wheel steering delivery vehicle Download PDFInfo
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- CN108177652A CN108177652A CN201711450348.0A CN201711450348A CN108177652A CN 108177652 A CN108177652 A CN 108177652A CN 201711450348 A CN201711450348 A CN 201711450348A CN 108177652 A CN108177652 A CN 108177652A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
Abstract
The track keeping method and system of a kind of four-wheel steering delivery vehicle disclosed by the invention, wherein, method includes：Design Lane keeps control parameter, lane control that mathematical model, track is kept to keep control targe；Implement lane control and keep mathematical model, solve the value that track keeps control targe and determining track keeps control parameter；The value of track holding control parameter is provided to torque controller；The value of control parameter is kept to carry out torque arithmetic according to track and distribute front and back wheel torque correction value；Front-and rear-wheel steer equipment is controlled according to front and back wheel torque correction value, it is final that vehicle is controlled to implement track holding.The present invention can keep control requirement distribution front and back wheel torque according to track, by front-wheel steer control and the combination of rear-axle steering control, the turning facilities of front wheels and rear wheels be controlled respectively, so as to effectively improve the track retention property of four-wheel steering delivery vehicle.
Description
Technical field
The invention belongs to delivery vehicle field of intelligent control, and in particular to a kind of track of four-wheel steering delivery vehicle is kept
Method.
Background technology
Lane Keeping System (LKAS) be delivery vehicle intelligent driving function in an important component part, it is main
Effect is to prevent the deviation of vehicle.In order to prevent by deviation cause accident and assist delivery vehicle intelligently turn
To LKAS systems apply torque when will deviation occur for delivery vehicle to transfer, and control delivery vehicle is maintained at
It is travelled in track.
The front wheels and rear wheels of four-wheel steering delivery vehicle all have certain turning function, effectively increase delivery vehicle and exist
To turning to the response speed inputted, improving manipulation portability under the low speed and reducing automobile turning in entire vehicle speed range
Radius improves mobility, and therefore, the application range of four-wheel steering delivery vehicle is increasingly extensive.
However, existing LKAS systems are mostly for front-wheel steer delivery vehicle, only by adjusting front-wheel steer torque or
Steering angle implements track holding.Since the trailing wheel of the type delivery vehicle cannot turn to, existing LKAS systems can not be to rear
Wheel implements track and keeps control, therefore be not particularly suited for four-wheel steering delivery vehicle.
Therefore, the prior art needs further development and improves.
Invention content
The problem of not being suitable for four-wheel steering delivery vehicle for existing LKAS systems, the invention discloses one kind four to rotate
To the track keeping method of delivery vehicle, control requirement distribution front and back wheel torque can be kept according to track, while control four-wheel
The front wheels and rear wheels for turning to delivery vehicle turn to, and effectively improve the road-holding ability of four-wheel steering delivery vehicle；Meanwhile this hair
It is bright accordingly to disclose a kind of Lane Keeping System of four-wheel steering delivery vehicle.
The track keeping method of a kind of four-wheel steering delivery vehicle disclosed by the invention, applied to execution intelligent driving pattern
The delivery vehicle with four-wheel steering in, the delivery vehicle have LKAS controllers, torque controller, front-wheel steer control
Device, rear-axle steering controller, front-wheel steer equipment and rear-axle steering equipment, include the following steps：
Control parameter and corresponding lane control is kept to keep mathematical model and design in LKAS controller designs track
Track keeps standard of the control targe as track holding control parameter；
LKAS controllers implement the lane control and keep mathematical model, solve track and keep control targe and determining track
Keep the value of control parameter；
LKAS controllers provide the value of track holding control parameter to torque controller；
Torque controller keeps the value of control parameter to carry out torque arithmetic and distributes front and back wheel torque correction value according to track；
Front-wheel steer controller controls front-wheel steer equipment according to front wheel torque corrected value, and rear-axle steering controller is after
Take turns torque correction value control rear-axle steering equipment；
Front-wheel steer equipment and rear-axle steering equipment co- controlling vehicle implement track holding.
Further, Design Lane keeps mathematical model to include four dimension modules of generation, and four dimension module includes four dimensions
Single flight path bicycle model of degree, four dimension module are provided by state vector：
A, B, D are coefficient matrix, and x is four-dimensional state vector, is given by：
ψ is the yaw angle of delivery vehicle, and y is Lane tracking lateral displacement；
U in equation (1) keeps control parameter, and u=[δ for trackf,δr], δfFor the front wheel angle of delivery vehicle, δr
Trailing wheel corner for delivery vehicle.
Further, Design Lane keeps control targe to include making Lane tracking lateral displacement error delta y and delivery vehicle
Yaw angle error delta ψ is minimized, wherein,
Δ y=ydesired-ypredicted, Δ ψ=ψdesired-ψpredicted, ydesiredIt is expected for Lane tracking lateral displacement
Value, ypredictedFor Lane tracking lateral displacement predicted value, ψdesiredFor delivery vehicle yaw angle desired value, ψpredictedFor delivery
Tool yaw angle predicted value；
Design Lane keeps control targe to further include the control variable found and minimize secondary cost function J；Wherein,
Q (t) is the weight parameter matrix for predicting error, is given by：
QlFor with the relevant weights of lateral displacement error delta y, QhFor with the relevant weights of yaw angle error delta ψ；
R (t) is the weight parameter matrix for controlling steering angle, is given by：
RfIt is and the relevant weight of front-wheel steer, RrIt is and the relevant weight of rear-axle steering.
Further, implement the lane control and keep mathematical model, solve track and keep control targe and determining track
The value of control parameter is kept to include：It calculates track and keeps control parameter u=[δf,δr] to make J minimum, that is, solve equation (3).
Further, the value of control parameter is kept to carry out torque arithmetic according to track to include：It is kept according to the track of solution
Control parameter u=[δf,δr] calculate front and back wheel torque correction value.
Corresponding disclosed a kind of Lane Keeping System of four-wheel steering delivery vehicle of the invention, including LKAS controllers, is turned round
Square controller, front-wheel steer controller, rear-axle steering controller, front-wheel steer equipment and rear-axle steering equipment；
The LKAS controllers keep control parameter and corresponding lane control to keep mathematical model for Design Lane, if
The standard that track keeps control targe to keep control parameter as the track is counted, implements the lane control and keeps mathematical modulo
Type solves the value that track keeps control targe and determining track keeps control parameter, and providing track to torque controller keeps control
The value of parameter processed；
The torque controller is used to the value of control parameter be kept to carry out torque arithmetic according to track and distributes front and back wheel torsion
Square corrected value；
The front-wheel steer controller is used to control front-wheel steer equipment, rear-axle steering control according to front wheel torque corrected value
Device is used to control rear-axle steering equipment according to trailing wheel torque correction value；
The front-wheel steer equipment and rear-axle steering equipment are used for according to front-wheel steer controller and rear-axle steering controller
Control instruction co- controlling vehicle implement track holding.
Further, the LKAS controllers include storage unit and processing unit；
The storage unit keeps control parameter for storing track；
The processing unit keeps the corresponding lane control of control parameter to keep mathematical model for generating track, designs vehicle
Road keeps control targe to keep the standard of control parameter as the track, implements the lane control and keeps mathematical model, asks
The value that track keeps control targe and determining track keeps control parameter is solved, providing track to torque controller keeps control parameter
Value.
Further, the torque controller includes torque arithmetic unit and front and back wheel torque allocation unit；
The torque arithmetic unit is used to the value progress torque arithmetic of control parameter be kept to obtain front and back wheel torsion according to track
Square corrected value；
The front and back wheel torque allocation unit is used to front and back wheel torque correction value corresponding to distribution to the front-wheel steer control
Device and rear-axle steering controller processed.
Advantageous effect：The present invention can keep control requirement distribution front and back wheel torque according to track, pass through front-wheel steer control
System and the combination of rear-axle steering control control the turning facilities of front wheels and rear wheels respectively, so as to effectively improve four-wheel steering delivery
The track retention property of tool.
Description of the drawings
Fig. 1 is a kind of structure diagram of the Lane Keeping System of four-wheel steering delivery vehicle in embodiment.
Fig. 2 is a kind of flow diagram of the track keeping method of four-wheel steering delivery vehicle in embodiment.
Fig. 3 is single flight path bicycle model that a kind of track keeping method of four-wheel steering delivery vehicle in embodiment uses
Schematic diagram.
Specific embodiment
To make the purpose of the present invention, technical solution and effect clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
Embodiment one
It please refers to Fig.1 to Fig.3, a kind of track keeping method of four-wheel steering delivery vehicle, can answer disclosed in embodiment one
For performing in the delivery vehicle (such as vehicle) with four-wheel steering of intelligent driving pattern.As shown in Figure 1, the delivery work
Tool is set with LKAS controllers 10, torque controller 20, front-wheel steer controller 30, rear-axle steering controller 40, front-wheel steer
Standby 50 and rear-axle steering equipment 60.Referring to figs. 2 to Fig. 3, the program includes the following steps S100 to step S600：
Step S100 keeps control parameter and corresponding lane control to keep mathematical modulo in LKAS controller designs track
Type and Design Lane keep standard of the control targe as track holding control parameter.
In step S100, Design Lane keeps mathematical model to include four dimension modules of generation, and four dimension module includes four
Single flight path bicycle model of dimension, four dimension module are provided by state vector：
A, B, D are coefficient matrix (can be empirical value), and x is four-dimensional state vector, is given by：
ψ is the yaw angle of delivery vehicle, and y is (above ● to represent first derivative, T represents transposition for Lane tracking lateral displacement
Matrix)；
U in equation (1) keeps control parameter, and u=[δ for trackf,δr], δfFor the front wheel angle of delivery vehicle, δr
Trailing wheel corner for delivery vehicle.
Further, Design Lane keeps control targe to include making Lane tracking lateral displacement error delta y and delivery vehicle
Yaw angle error delta ψ is minimized, wherein,
Δ y=ydesired-ypredicted, Δ ψ=ψdesired-ψpredicted, ydesiredIt is expected for Lane tracking lateral displacement
Value, ypredictedFor Lane tracking lateral displacement predicted value, ψdesiredFor delivery vehicle yaw angle desired value, ψpredictedFor delivery
Tool yaw angle predicted value；Wherein, desired value can obtain the detection of lane line by the sensor on delivery vehicle；Predicted value can
It is calculated by obtaining the current speed of delivery vehicle, corner, acceleration etc., such as the position of the rear vehicle of prediction 0.5s
(Lane tracking lateral displacement, yaw angle).
Design Lane keeps control targe to further include the control variable found and minimize secondary cost function J；Wherein,
Q (t) is the weight parameter matrix for predicting error, is given by：
QlFor with the relevant weights of lateral displacement error delta y, QhFor with the relevant weights of yaw angle error delta ψ；
R (t) is the weight parameter matrix for controlling steering angle, is given by：
RfIt is and the relevant weight of front-wheel steer (can be empirical value), RrIt is that (can be with the relevant weight of rear-axle steering
Empirical value).
Step S200, LKAS controller implement the lane control and keep mathematical model, solve track and keep control targe
The value of control parameter is kept with determining track.
In step S200, implement the lane control and keep mathematical model, solve track and keep control targe and determining vehicle
Road keeps the value of control parameter to include：It calculates track and keeps control parameter u=[δf,δr] to make J minimum, that is, solve equation
(3)。
Further, the value of control parameter is kept to carry out torque arithmetic according to track to include：It is kept according to the track of solution
Control parameter u=[δf,δr] calculate front and back wheel torque correction value.
Step S300, LKAS controller provides the value of track holding control parameter to torque controller.
Step S400, torque controller keep the value of control parameter to carry out torque arithmetic and distribute front and back wheel torsion according to track
Square corrected value.
Step S500, front-wheel steer controller control front-wheel steer equipment, rear-axle steering control according to front wheel torque corrected value
Device processed controls rear-axle steering equipment according to trailing wheel torque correction value.
Step S600, front-wheel steer equipment and rear-axle steering equipment co- controlling vehicle implement track holding.
Embodiment two
Referring to Fig. 1, a kind of corresponding disclosed Lane Keeping System of four-wheel steering delivery vehicle of embodiment two, including
LKAS controllers 10, torque controller 20, front-wheel steer controller 30, rear-axle steering controller 40, front-wheel steer equipment 50 with
And rear-axle steering equipment 60；
The LKAS controllers 10 keep control parameter and corresponding lane control to keep mathematical model for Design Lane,
Design Lane keeps control targe to keep the standard of control parameter as the track, implements the lane control and keeps mathematical modulo
Type solves the value that track keeps control targe and determining track keeps control parameter, and providing track to torque controller keeps control
The value of parameter processed；
The torque controller 20 is used to the value of control parameter be kept to carry out torque arithmetic according to track and distributes front and back wheel
Torque correction value；
The front-wheel steer controller 30 is used to control front-wheel steer equipment 50, rear-axle steering according to front wheel torque corrected value
Controller 40 is used to control rear-axle steering equipment 60 according to trailing wheel torque correction value；
The front-wheel steer equipment 50 and rear-axle steering equipment 60 are used for according to front-wheel steer controller 30 and rear-axle steering
The control instruction co- controlling vehicle of controller 40 implements track holding.
Further, LKAS controllers 10 include storage unit 12 and processing unit 14；
The storage unit 12 keeps control parameter for storing track；
The processing unit 14 keeps the corresponding lane control of control parameter to keep mathematical model, design for generating track
Track keeps control targe to keep the standard of control parameter as the track, implements the lane control and keeps mathematical model,
The value that track keeps control targe and determining track keeps control parameter is solved, providing track to torque controller keeps control ginseng
Several values.
Further, torque controller 20 includes torque arithmetic unit 22 and front and back wheel torque allocation unit 24；
The torque arithmetic unit 24 is used to the value progress torque arithmetic of control parameter be kept to obtain front and back wheel according to track
Torque correction value；
The front and back wheel torque allocation unit 24 is used to front and back wheel torque correction value corresponding to distribution to the front-wheel steer
Controller 30 and rear-axle steering controller 40.
The operation principle reference implementation example one of embodiment two, which is not described herein again.
In conclusion above example can keep control requirement distribution front and back wheel torque according to track, pass through preceding rotation
To control and the combination of rear-axle steering control, the turning facilities of front wheels and rear wheels are controlled respectively, so as to effectively improve four-wheel steering
The track retention property of delivery vehicle.
It should be understood that for those of ordinary skills, can be improved or converted according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (8)
1. a kind of track keeping method of four-wheel steering delivery vehicle has four-wheel steering applied to execution intelligent driving pattern
Delivery vehicle in, the delivery vehicle have LKAS controllers, torque controller, front-wheel steer controller, rear-axle steering control
Device processed, front-wheel steer equipment and rear-axle steering equipment, which is characterized in that include the following steps：
Control parameter and corresponding lane control is kept to keep mathematical model and Design Lane in LKAS controller designs track
Control targe is kept to keep the standard of control parameter as the track；
LKAS controllers implement the lane control and keep mathematical model, solve track and control targe and determining track is kept to keep
The value of control parameter；
LKAS controllers provide the value of track holding control parameter to torque controller；
Torque controller keeps the value of control parameter to carry out torque arithmetic and distributes front and back wheel torque correction value according to track；
Front-wheel steer controller controls front-wheel steer equipment according to front wheel torque corrected value, and rear-axle steering controller is turned round according to trailing wheel
Square corrected value controls rear-axle steering equipment；
Front-wheel steer equipment and rear-axle steering equipment co- controlling vehicle implement track holding.
2. the track keeping method of four-wheel steering delivery vehicle according to claim 1, which is characterized in that Design Lane is protected
It holds mathematical model and includes four dimension modules of generation, four dimension module includes single flight path bicycle model of four dimensions, the four-dimension
Model is provided by state vector：
A, B, D are coefficient matrix, and x is four-dimensional state vector, is given by：
ψ is the yaw angle of delivery vehicle, and y is Lane tracking lateral displacement；
U in equation (1) keeps control parameter, and u=[δ for trackf,δr], δfFor the front wheel angle of delivery vehicle, δrFor delivery
The trailing wheel corner of tool.
3. the track keeping method of four-wheel steering delivery vehicle according to claim 2, which is characterized in that Design Lane is protected
Control targe is held to include minimizing Lane tracking lateral displacement error delta y and delivery vehicle yaw angle error delta ψ, wherein,
Δ y=ydesired-ypredicted, Δ ψ=ψdesired-ψpredicted, ydesiredFor Lane tracking lateral displacement desired value,
ypredictedFor Lane tracking lateral displacement predicted value, ψdesiredFor delivery vehicle yaw angle desired value, ψpredictedTo deliver work
Has yaw angle predicted value；
Design Lane keeps control targe to further include the control variable found and minimize secondary cost function J；Wherein,
Q (t) is the weight parameter matrix for predicting error, is given by：
QlFor with the relevant weights of lateral displacement error delta y, QhFor with the relevant weights of yaw angle error delta ψ；
R (t) is the weight parameter matrix for controlling steering angle, is given by：
RfIt is and the relevant weight of front-wheel steer, RrIt is and the relevant weight of rear-axle steering.
4. the track keeping method of four-wheel steering delivery vehicle according to claim 3, which is characterized in that implement the vehicle
Road control keeps mathematical model, solves track and keeps control targe and determining track that the value of control parameter is kept to include：Calculate vehicle
Road keeps control parameter u=[δf,δr] to make J minimum, that is, solve equation (3).
5. the track keeping method of four-wheel steering delivery vehicle according to claim 4, which is characterized in that protected according to track
The value progress torque arithmetic for holding control parameter includes：Control parameter u=[δ are kept according to the track of solutionf,δr] calculate front and back wheel
Torque correction value.
6. a kind of Lane Keeping System of four-wheel steering delivery vehicle, which is characterized in that including LKAS controllers, moment of torsion control
Device, front-wheel steer controller, rear-axle steering controller, front-wheel steer equipment and rear-axle steering equipment；
The LKAS controllers keep control parameter and corresponding lane control to keep mathematical model for Design Lane, design vehicle
Road keeps control targe to keep the standard of control parameter as the track, implements the lane control and keeps mathematical model, asks
The value that track keeps control targe and determining track keeps control parameter is solved, providing track to torque controller keeps control parameter
Value；
The torque controller is used to the value of control parameter be kept to carry out torque arithmetic according to track and distributes front and back wheel torque school
Positive value；
The front-wheel steer controller is used to control front-wheel steer equipment according to front wheel torque corrected value, and rear-axle steering controller is used
According to trailing wheel torque correction value control rear-axle steering equipment；
The front-wheel steer equipment and rear-axle steering equipment are used for the control according to front-wheel steer controller and rear-axle steering controller
System instruction co- controlling vehicle implements track holding.
7. the Lane Keeping System of four-wheel steering delivery vehicle according to claim 6, which is characterized in that the LKAS controls
Device processed includes storage unit and processing unit；
The storage unit keeps control parameter for storing track；
The processing unit keeps the corresponding lane control of control parameter to keep mathematical model for generating track, and Design Lane is protected
The standard that control targe keeps control parameter as the track is held, implements the lane control and keeps mathematical model, solve vehicle
Road keeps control targe and determining track to keep the value of control parameter, and providing track to torque controller keeps control parameter
Value.
8. the Lane Keeping System of four-wheel steering delivery vehicle according to claim 7, which is characterized in that the torque control
Device processed includes torque arithmetic unit and front and back wheel torque allocation unit；
The torque arithmetic unit is used to the value progress torque arithmetic of control parameter be kept to obtain front and back wheel torque school according to track
Positive value；
The front and back wheel torque allocation unit is used to front and back wheel torque correction value corresponding to distribution to the front-wheel steer controller
With rear-axle steering controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711450348.0A CN108177652A (en) | 2017-12-27 | 2017-12-27 | The track keeping method and system of a kind of four-wheel steering delivery vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711450348.0A CN108177652A (en) | 2017-12-27 | 2017-12-27 | The track keeping method and system of a kind of four-wheel steering delivery vehicle |
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Family
ID=62547925
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