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Model Predictive Control Method for Intelligent Vehicle Trajectory Tracking Based on Model Compensation

A technology of model predictive control and intelligent vehicles, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as no real-time update, mismatch between vehicle model and controller model, etc., to improve accuracy, solve problems Model mismatch problem, effect of ensuring stability

Active Publication Date: 2021-02-09
CHONGQING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

In the existing model predictive trajectory tracking controller, when the force on the tire changes, the cornering stiffness coefficient of the tire is still a constant quantity, which is not updated in real time, which will cause a mismatch between the vehicle model and the controller model

Method used

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  • Model Predictive Control Method for Intelligent Vehicle Trajectory Tracking Based on Model Compensation
  • Model Predictive Control Method for Intelligent Vehicle Trajectory Tracking Based on Model Compensation
  • Model Predictive Control Method for Intelligent Vehicle Trajectory Tracking Based on Model Compensation

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] The intelligent vehicle trajectory tracking model predictive control method based on model compensation described in the present invention. First establish a 2-DOF vehicle dynamics model, based on the dynamics model, according to the model predictive control (MPC) theory, to predict the output of the model and expected trajectory Deviation between the design objective function, to find the optimal control amount front wheel deflection angle (δ f0 ) control the trajectory of the intelligent vehicle tracking expectation; suppose the difference between the built vehicle dynamics model and the real vehicle dynamics model in the present invention is the modeling uncertain part f(x); design with the current trajectory of the vehicle and the expected trajectory The error e and the error variation of for input, For the adaptive RBF neural network output, the Lya...

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Abstract

The invention discloses a model prediction control method for intelligent vehicle trajectory tracking based on model compensation, which includes establishing a 2-degree-of-freedom vehicle dynamics model to simulate an intelligent vehicle; The differential form of the vehicle dynamics model is discretely linearized to obtain a linear error model, which is used as the prediction model of the model predictive controller, and finally the optimal control variable front wheel slip angle δ is obtained. f0 ; Take the error e and the error change between the current trajectory and the expected trajectory of the vehicle as the input of the RBF neural network, and output δ f1 is the front wheel slip angle compensated by the adaptive RBF neural network; the optimal control quantity output by the model predictive control system is the front wheel slip angle δ f0 and the front wheel slip angle δ compensated by the adaptive RBF neural network f1 The inputs δ that make up the final smart vehicle f . This method is used to improve the precision of the intelligent vehicle tracking the desired trajectory.

Description

technical field [0001] The invention belongs to an intelligent vehicle trajectory tracking control method, in particular to a model compensation-based intelligent vehicle trajectory tracking model predictive control method. Background technique [0002] Intelligent vehicles, that is, vehicle intelligence, are the main development direction of future vehicle technology. They are the result of the integration of vehicle technology and control, information, artificial intelligence and other technologies. Manipulation. With the development of control theory, more and more control theories and control methods have been applied to the trajectory tracking control of intelligent vehicles. An efficient and stable trajectory tracking control system is a necessary condition for the realization of intelligence and practicality of unmanned vehicles. [0003] The goal of vehicle motion control is to generate control quantities according to the trajectory planned by the upper layer and th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 郑太雄李芳杨新琴何招黄帅杨斌
Owner CHONGQING UNIV OF POSTS & TELECOMM
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