Adaptive coordination control method for intelligent vehicle steering and braking

Abstract

The invention, which belongs to the automatic driving and intelligent traffic field, provides an adaptive coordination control method for intelligent vehicle steering and braking. The method comprises: (1), an identification method of an expected path is designed and an intelligent vehicle steering and braking coupling dynamics model is established; (2), with a backstepping sliding mode control technology, an intelligent vehicle steering and braking coordination control model is designed by using vehicle horizontal path tracking and braking speed control as objectives; (3), an on-line real-time approaching control law, being similar to that in the step (2), of a fuzzy system is designed and thus adaptive adjustment of the approaching control law is realized, so that a buffeting phenomenon caused by a backstepping sliding mode in dynamic steering and brake coordinated control can be avoided; and (4), stability of the dynamic automobile steering and brake coordinated control system is analyzed. Therefore, defects of strong coupling, non linearity, and parameter uncertainty of the automobile steering and brake dynamics can be overcome effectively; the real-time performance and stability of emergency obstacle avoidance can be guaranteed; dependence on the control model can be eliminated; robustness of parameter uncertainty can be enhanced; the overall performance is improved; and the cost is lowered.

Description

technical field [0001] The invention belongs to the field of automatic driving and intelligent transportation, in particular to an intelligent vehicle steering and braking adaptive coordination control method. Background technique [0002] Smart cars are committed to improving the comprehensive performance of vehicles such as safety, comfort, and energy saving. It is the embodiment of the comprehensive application of high-tech technologies such as intelligent control, modern sensing, and information communication in vehicle engineering. The automatic completion of intelligent car driving tasks can greatly improve the traffic capacity of the road, enhance the safety and comfort of the vehicle, effectively reduce the fuel consumption of the vehicle, realize environmental protection and energy saving, and have a wide range of practical social application value. [0003] Navigation control is the key link to realize the automatic driving of smart cars. It mainly studies how to c...

AI Technical Summary

Problems solved by technology

However, under the condition of emergency obstacle avoidance, there is a strong coupling relationship between the steering and braking dynamics of the vehicle, and it has strong nonlinearity and uncertain parameters. Considering the steering control and braking control separately will easily lead to the steering wheel and brake dynamics. Frequent manual operations make it difficult to guarantee the real-time and stability of emergency obstacle avoidance, which reduces the overall performance of smart car automatic driving

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