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

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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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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