Unmanned vehicle autonomous steering control system and method based on hybrid theory

Abstract

The invention discloses an unmanned vehicle autonomous steering control system and method based on hybrid theory and belongs to the field of unmanned vehicle transverse control. The system comprises an environment sensing module, a vehicle own state information module, a path planning module, a decision-making control module and an operation executing module. A control problem of the steering system in complex working conditions is converted into a switching coordination problem between multimode control and a control algorithm to be solved by introducing hybrid control theory, and control of the system in all working conditions is realized; proper control algorithms are introduced in each working condition, so that local controllability of the system can be met, the objective of overall optimization can be achieved, optimal unmanned vehicle steering controllability is realized, and operation stability and intelligent level of an unmanned vehicle are improved.

Description

technical field [0001] The invention relates to the field of lateral control of unmanned vehicles, in particular to an autonomous steering control system and method for unmanned vehicles based on hybrid theory. Background technique [0002] The major transformation of automobile technology centered on the three major technologies of power electrification, lightweight structure and intelligent driving is being carried out in depth on a global scale. In 2015, the State Council officially released "Made in China 2025", which listed "energy-saving and new energy vehicles" as one of the ten key breakthrough development areas, and generally pointed out the development direction and This is the first time that intelligent networked vehicles have been promoted to the level of national strategy. The Ministry of Industry and Information Technology further clarified: by 2020, it is necessary to master the overall technology of intelligent assisted driving and various key technologies,...

AI Technical Summary

Problems solved by technology

[0004] Facing the ultimate goal of unmanned driving, the intelligent vehicle lateral control system is required to have accurate, efficient and reliable control capabilities under multiple working conditions to ensure vehicle steering stability, driving safety and ride comfort. The traditional single steering control algorithm Cannot solve and coordinate the control requirements and control functions of the autonomous steering control system under different working conditions

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