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Multi-model transverse fuzzy control method based on vehicle speed partition

A technology of fuzzy control and fuzzy controller, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as vehicle speed change, vehicle instability, rollover, etc., and achieve enhanced anti-interference ability, The effect of increasing adaptive capacity

Inactive Publication Date: 2017-08-08
JIANGSU UNIV
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Problems solved by technology

In the design of the trajectory tracking controller, the existing technology does not consider the influence of vehicle speed changes on the controller design, and this often causes the intelligent vehicle to be in a high-speed state due to the ignorant pursuit of tracking accuracy during the path tracking process. Instability or even rollover

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  • Multi-model transverse fuzzy control method based on vehicle speed partition
  • Multi-model transverse fuzzy control method based on vehicle speed partition
  • Multi-model transverse fuzzy control method based on vehicle speed partition

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Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0045] Such as figure 1 As shown, the multi-model lateral fuzzy control method based on vehicle speed partition of the present invention selects an appropriate method to partition the vehicle speed into several intervals, and designs local fuzzy controllers respectively to control the vehicle system. This method of dividing the vehicle speed into zones greatly improves the control accuracy of the system and can take into account the stability of the vehicle steering. This method divides the current vehicle speed into three grades. The vehicle speed is lower than 10m / s as the low-speed range, 10m / s-20m / s as the medium-speed range, and higher than 20m / s as the high-speed range. An independent fuzzy controller is designed for each local interval.

[0046] In the above-ment...

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Abstract

The present invention discloses a multi-model transverse fuzzy control method based on vehicle speed partition. The multi-model transverse fuzzy control method comprises the steps of establishing a vehicle model to obtain a vehicle two-degree of freedom motion differential equation; establishing a road surface curvature model; establishing a preview error model; dividing the vehicle speeds into the low speed, the intermediate speed and the high speed, and designing the corresponding transverse fuzzy controllers respectively; in the design of the three transverse fuzzy controllers, all adopting a transverse distance error E1 and an angle error E2 which are generated during a path tracking process as the input, and outputting the appropriate front wheel rotation steering angles delta under the vehicle speeds and under different fuzzy control rules; returning the front wheel rotation steering angles delta outputted by the fuzzy controllers designed in the previous step to the step 1 as the input of a vehicle two-degree of freedom model, thereby forming a closed-loop feedback system. The different controllers are designed based on the speed partition, so that the multi-model transverse fuzzy control method based on the vehicle speed partition of the present invention enables the adaptation capabilities of the controllers under different vehicle speeds to be increased greatly.

Description

technical field [0001] The invention relates to the technical field of automobile control systems, in particular to a multi-model lateral fuzzy control method based on vehicle speed partitions. Background technique [0002] With the continuous increase of global car ownership and traffic accidents, intelligent transportation systems have received more and more attention. As an important member of the intelligent transportation system, the development of intelligent vehicles is of great significance. The new, stable and intelligent control system has been extensively researched and paid attention to. In the design of the trajectory tracking controller, the existing technology does not consider the influence of vehicle speed changes on the controller design, and this often causes the intelligent vehicle to be in a high-speed state due to the ignorant pursuit of tracking accuracy during the path tracking process. Instability or even rollover. Contents of the invention [0...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 汪若尘魏振东孙泽宇孟祥鹏陈龙
Owner JIANGSU UNIV
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