Control Method of Discrete Second-Order Sliding Mode Control System Based on Data Driven ACC System

Abstract

The invention discloses an ACC system dispersion second-order slip form control system based on data driving and a method thereof, and relates to the hybrid electric vehicle self-adaptive cruising system control technology field. The method comprises the steps that an ACC model based on input output data is established by using subspace identification method, and the parameters of the model are identified by adopting an observer and an augmented least square method, and at last, self-adaptive cruising of a vehicle is realized by adopting a vehicle distance following control method of a self-adaptive dispersion second-order slip form. Changes of vehicle states are followed in a real-time manner by using the subspace identification method, own model parameters are adjusted constantly, and then splitting processing of non-linear uncertain items is carried out during operation, and influences of external disturbances are reduced during the modeling process, and therefore the modeling precision of the vehicle is obviously improved, a buffeting problem of a conventional dispersion slip form is effectively improved by adopting the self-adaptive dispersion second-order slip form, and then minimization of deviation between an actual vehicle distance and a safety distance set by a driver is realized.

Description

technical field [0001] The invention relates to the technical field of control of an adaptive cruise system of a hybrid electric vehicle, in particular to a control method based on a data-driven discrete second-order sliding mode control system of an ACC system. Background technique [0002] Against the background of the rising number of automobiles at home and abroad, traffic accidents, safety hazards, and road congestion caused by improper driver operation are gradually increasing. By correctly handling the efficient interconnection between drivers and the operating environment, it can be fundamentally reduced. occurrence of the above accident. In order to effectively solve the traffic accidents caused by the driver's misjudgment and improper operation, the automotive industry has increased the research and development of active safety driver assistance systems (ADAS), among which adaptive cruise control (Adaptive Cruise Control, ACC) The system has attracted widespread a...

AI Technical Summary

Problems solved by technology

[0008] In order to solve the problems of the adaptive cruise control system designed based on the traditional vehicle dynamics model, the physical characteristics change caused by the aging of mechanical parts in the actual use process, and the model caused by factors such as uncertainties in the environment of complex driving conditions Mismatch causes the technical problems of poor stability, safety and comfort during vehicle driving. The present invention provides a control method based on a data-driven ACC system discrete second-order sliding mode control system, which improves the controller The anti-interference ability and the tracking accuracy of the cruise system under uncertain conditions have effectively improved the trembling problem of the traditional discrete sliding mode, and realized the minimum deviation between the actual vehicle distance and the safety distance artificially set by the driver.

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