Intelligent vehicle longitudinal acceleration control method based on feedforward and feedback combination

Abstract

This article proposes a longitudinal acceleration control method based on feedforward and feedback combination to solve the problem of the unfixed mapping relationship between longitudinal acceleration and pedal operation. The drive/brake system is normalized by steady-state compensation correction, and the closed-loop parameterized design is carried out with the principle of non-smooth optimization, so that the closed-loop control system conforms to the ideal second-order system accordingly, so that the pedal operation amount and the acceleration mapping relationship are kept consistent. At the same time, by designing a reasonable frequency bandwidth, the dynamic quality of longitudinal motion is improved. Through driving simulator-based dynamic response performance verification, mapping relationship consistency verification, and acceleration tracking control verification under different working conditions. The results show that the method proposed in this paper has good dynamic response performance and acceleration tracking control effect, and the mapping relationship between acceleration and pedal remains unchanged when the performance of automobile components is degraded.