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Intelligent automobile transverse control system and method based on piecewise affine fuzzy sliding mode

A segmented affine, lateral control technology, applied in control/adjustment systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc. Vehicle status, short response time and other issues, to achieve the effect of ensuring driving safety, short response time, and short robustness

Active Publication Date: 2018-10-12
科大国创合肥智能汽车科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing vehicle dynamics model ignores the nonlinear characteristics of the tire cornering force. When the road surface adhesion coefficient is very low, the vehicle is prone to instability.
Therefore, the existing dynamic model cannot accurately reflect the state of the vehicle
[0004] However, the existing sliding mode control algorithm is completely robust to model parameter uncertainties and external disturbances, and the response time is short, but chattering occurs due to high-frequency conversion near the sliding surface.
Therefore, it will affect the ride comfort and stability during driving

Method used

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  • Intelligent automobile transverse control system and method based on piecewise affine fuzzy sliding mode
  • Intelligent automobile transverse control system and method based on piecewise affine fuzzy sliding mode
  • Intelligent automobile transverse control system and method based on piecewise affine fuzzy sliding mode

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Embodiment 1

[0056] A kind of intelligent vehicle lateral control method based on segmented affine fuzzy sliding mode, is used for controlling the steering wheel angle of target vehicle, to realize the lateral control to described target vehicle in driving process; comprises the following steps:

[0057] Step S101, collect the expected path of the target vehicle in real time, the yaw rate ω r , speed v x and the center of mass sideslip angle β.

[0058] The collection of the above data can be realized in various ways. This embodiment provides a specific example as a reference: in the step S101, the method of collecting the desired path in real time is specifically: using an industrial camera to identify the target vehicle in real time The lane line ahead, and fit the desired path (specifically, the MER1920-41GM model camera of Daheng Image, the lens model VS 0816-5M can be used. Through the visual studio development platform, the OpenCV function library is used to complete the lane line. I...

Embodiment 2

[0137] An intelligent vehicle lateral control system based on segmented affine fuzzy sliding mode, corresponding to the control method of embodiment 1, used to control the steering wheel angle of the target vehicle, so as to realize the lateral control of the target vehicle during driving ; the system includes:

[0138] Environmental perception module 1, used for:

[0139] Collect the expected path of the target vehicle in real time, the yaw rate ω r , speed v x and the center of mass sideslip angle β.

[0140] The environment perception module 1 may specifically include components such as industrial cameras, inertial navigation and wheel speed sensors. Wherein, the front lane line of the target vehicle is recognized in real time by using an industrial camera, and the desired path is fitted (specifically, the MER1920-41GM model camera of Daheng Image, the lens model VS 0816-5M can be used. Through visual studio The development platform uses the OpenCV function library to c...

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Abstract

The invention provides an intelligent automobile transverse control system and method based on a piecewise affine fuzzy sliding mode. The system comprises an environment sensing module, a piecewise affine two-degree-of-freedom model module, an optimal driver model module, a fuzzy sliding mode control algorithm module and a lower computer execution module, wherein the environment sensing module isused for obtaining state parameters of a vehicle and fitting out a desired path; the piecewise affine two-degree-of-freedom model module is used for linearization of the nonlinear state of the vehicleand outputting transverse yaw acceleration of the vehicle; the optimal driver model module is used for calculating the ideal yaw velocity; the fuzzy sliding mode control algorithm module is used forcalculating the optimal steering wheel rotation angle and providing the optimal steering wheel rotation angle to the lower computer execution module for execution. By means of the method, the nonlinear characteristic of the vehicle can be effectively overcome, the control precision, stability and effectiveness are improved, the sliding mode switching frequency can be controlled through fuzzy control, and the phenomenon that sliding mode control easily causes buffeting is effectively reduced.

Description

technical field [0001] The invention belongs to the technical field of smart cars, and in particular relates to a lateral control method and system for smart cars based on segmented affine fuzzy sliding mode. Background technique [0002] In recent years, the development of AI technology has provided impetus for the development of smart cars; the development and performance improvement of radar and industrial cameras have also promoted the progress of smart cars, enabling them to detect information on the road ahead; , Lateral control is very important. Lateral control controls the front wheel angle of the smart car to make it follow the specified path and ensure the safety, comfort and stability of driving. [0003] The existing vehicle dynamics model ignores the nonlinear characteristics of the tire cornering force. When the road adhesion coefficient is very low, the vehicle is prone to instability. Therefore, the existing dynamic models cannot accurately reflect the stat...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223G05D1/0246
Inventor 张炳力吕敏煜曹聪聪高峰郑平平
Owner 科大国创合肥智能汽车科技有限公司
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