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Method for regulating speed of intelligent vehicle by using energy dissipation theory

A technology of intelligent vehicles and energy dissipation, applied in the direction of electrical digital data processing, special data processing applications, instruments, etc., can solve problems such as complex calculation process

Active Publication Date: 2018-11-06
TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE
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Problems solved by technology

However, the above optimization method needs to construct the Hamiltonian function, and use the Riccati equation and model prediction to obtain the optimal control law. The solution process is relatively complicated and satisfies many constraints.

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  • Method for regulating speed of intelligent vehicle by using energy dissipation theory
  • Method for regulating speed of intelligent vehicle by using energy dissipation theory
  • Method for regulating speed of intelligent vehicle by using energy dissipation theory

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Embodiment Construction

[0042] The specific implementation of the present invention will be described in detail below in conjunction with preferred embodiments.

[0043] See the accompanying drawings for details. This embodiment provides a method for regulating the speed of an intelligent vehicle using the theory of energy dissipation. It is characterized in that the speed regulation of an intelligent vehicle is converted into For the dissipation control problem where the energy storage function is the optimization target, the Lyapunov method based on Backstepping design is used to construct an energy storage function that guarantees γ dissipation, and the optimal control law for vehicle speed regulation is calculated by gradually approaching the γ dissipation inequality. Proceed as follows:

[0044] (1) Establish the γ-dissipation performance criterion of the intelligent vehicle speed control system, so that the energy storage function and its control law satisfy the γ-dissipation performance from t...

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Abstract

The invention relates to a method for regulating speed of an intelligent vehicle by using an energy dissipation theory. The method for regulating the speed of the intelligent vehicle by using the energy dissipation theory is characterized by comprising the steps of regulating and converting the speed of the intelligent vehicle into a dissipation control problem with an energy storage function as an optimization object by using a common Gamma dissipation inequality in a dissipation system; constructing the energy storage function for guaranteeing Gamma dissipation by using an Lyapunov method designed on the basis of Backstepping; and calculating an optimal control law of vehicle speed regulation by gradually approaching the Gamma dissipation inequality. The method for regulating the speed of the intelligent vehicle by using the energy dissipation theory has the beneficial effects that the optimal control law of the vehicle speed regulation is obtained by converting the speed regulationand control of the intelligent vehicle into the dissipation control problem with the energy storage function as the optimization target, by using the Lyapunov direct method to replace a Riccati equation with complicated calculation and by gradually approaching the Gamma dissipation inequality.

Description

technical field [0001] The invention relates to the field of intelligent vehicles, in particular to a method for regulating the speed of intelligent vehicles by using the theory of energy dissipation. Background technique [0002] Facing the high number of cars in my country's cities, it is difficult to solve urban traffic problems in the short term by advocating walking, bicycles, public transportation, and new energy vehicles. As an important carrier of intelligent transportation system, intelligent vehicle technology is still an effective means to solve driving safety and road traffic capacity. In particular, intelligent driving systems based on optimal design can perform performance evaluations such as safety, comfort, and economy with the help of norms or indices. For example, a vehicle multi-objective coordinated adaptive cruise control method (ZL 200810224248.0) combines the vehicle distance error and vehicle speed error H ∞ The norm is regarded as a security perfor...

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Application Information

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IPC IPC(8): B60W40/00G06F17/50
CPCB60W40/00G06F30/20
Inventor 张蕊马育林关志伟刘晓锋闫光辉张扬
Owner TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE
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