Steering controller and control method for differential steering vehicle based on driver model

A driver model, steering controller technology, applied in the direction of automatic steering control components, vehicle components, steering mechanisms, etc., can solve the problems affecting the accuracy of steering control and the number of steering radii, etc., to meet the needs of autonomous steering motion and ensure fast speed sexual effect

Active Publication Date: 2019-07-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0003] There is a lot of uncertainty in the steering movement of vehicles with speed difference step steering. Take the two-stage planetary steering mechanism and the clutch steering mechanism as examples, mainly because they are both step steering mechanisms, and the number of specified turning radii achieved is relatively small. , when the steering mechanism is in the non-specified turning radius steering condition, the slipping state of the steering actuator affects the accuracy of the steering control

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  • Steering controller and control method for differential steering vehicle based on driver model
  • Steering controller and control method for differential steering vehicle based on driver model
  • Steering controller and control method for differential steering vehicle based on driver model

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[0050] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0051] A specific embodiment of the present invention discloses a steering controller for a speed difference steering vehicle based on a driver model.

[0052] Such as figure 1 As shown, the driver model-based differential steering vehicle steering controller consists of two main parts, namely the Bang-Bang controller based on the empirical driver joystick clustering model, and the fuzzy PI based on reinforcement learning optimization. controller.

[0053] The Bang-Bang controller based on the empirical driver's joystick clustering model takes the current vehicle gear, the desired position of the joystick, and the actual position of the joystick as in...

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Abstract

The invention relates to a speed difference steering vehicle steering controller based on a driver model and a control method. The speed difference steering vehicle steering controller comprises a Bang-Bang controller body based on an experience driver operating lever clustering model and a blurring PI controller body based on reinforcement learning optimization, the experience driver operating model, Bang-Bang control and blurring PI control based on reinforcement learning optimization are combined to control a hydraulic servo driving steering system, meanwhile the rapidity of the system response speed and the operating level in-place accuracy are ensured, and the requirement for autonomous steering movement of an unmanned vehicle steering system can be met.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a driver model-based steering controller and control method for a speed difference steering vehicle. Background technique [0002] Unmanned vehicles have developed rapidly in recent years, and vehicle steering control is the research focus of unmanned vehicle driving control systems. For the lateral control technology of unmanned vehicles, most scholars currently propose many vehicle lateral control models and actuator control methods based on vehicles with stepless steering capabilities. There are few studies on the lateral control problem. [0003] There is a lot of uncertainty in the steering movement of vehicles with speed difference step steering. Take the two-stage planetary steering mechanism and the clutch steering mechanism as examples, mainly because they are both step steering mechanisms, and the number of specified turning radii achieved is relatively small....

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D137/00
CPCB62D6/001
Inventor 龚建伟高天云王博洋吴绍斌
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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