基于质量估计的商用车线控制动减速度控制

Commercial Vehicle Brake by Wire Deceleration Control based on Mass Estimation

为了满足无人驾驶商用车线控制动系统的减速度控制需求,提出了一种基于质量估计的减速度控制算法。根据车辆纵向动力学模型得到估计质量的初始值,利用模糊逻辑法获取估计质量的置信度从而改变滤波系数,既能使估算结果快速收敛,也能过滤掉噪声信号,并且算法运算量小可以降低计算负荷。基于估计质量信息,设计"前馈+反馈PID"控制器,控制车辆减速度达到上层决策系统的期望指令。实验结果验证了该控制方法具有较好的控制效果。

In order to meet the deceleration control requirements of driverless commercial vehicle line control system,a deceleration control algorithm based on mass estimation is proposed.According to the vehicle longitudinal dynamics model,the initial value of the estimated mass is obtained,and the confidence of the estimated mass is obtained by using the fuzzy logic method,so as to change the filtering coefficient,which can not only make the estimation result converge quickly,but also filter out the noise signal,and effectively reduce the calculation load of the controller.Based on the estimated mass information,a "feedforward + feedback PID" controller is designed to control the deceleration of the vehicle to achieve the desired command of the upper decision system.The experimental results show that the control method has good accuracy and robustness.