A steering angle tracking method for autopilot vehicle with unknown EPS characteristics

Abstract

The invention provides a steering angle tracking method of an auto-driving automobile steering wheel with unknown EPS characteristics, belonging to the technical field of intelligent transportation. This method calculates the EPS steering torque command Mc_k according to the steering wheel steering angle measurement value and the steering wheel steering angle external command of the self-driving vehicle, Mc_k is derived from the difference between the discretized feedback controller algorithm torque Mfeedback_k and the feedforward compensator algorithm torque Mfeedforward_k based on the extended disturbance observation, Mfeedforward_k is used to compensate for various disturbances, including the unknown characteristics of EPS, on the front wheel rotation system of autonomous vehicles, Mfeedback_k is used to track the desired steering wheel angle of an autonomous vehicle, and Mc_k is used as the steering torque input to the EPS. As that steer moment is used as the wire control input interface, the whole EPS system is regarded as an actuator, and the influence of the unknown EPS characteristic, the road potholes, the wind resistance, the parameter uncertainty of the front wheel rotation model of the self-driving automobile, the slope gravity lateral component and the like on the steering angle tracking accuracy of the self-driving automobile steering wheel can be effectively suppressed.

Description

technical field [0001] The invention relates to the technical field of intelligent transportation, in particular to a method for tracking the steering wheel steering angle of an automatic driving vehicle with unknown EPS characteristics. Background technique [0002] Autonomous driving provides a new comprehensive solution for transportation and travel. Under the wave of mobile Internet, big data, and cloud computing, autonomous driving vehicles have become the development trend of the current autonomous vehicle industry. At present, the lateral control of autonomous vehicles mainly uses Electric Power Steering (EPS) as the actuator. However, there are many EPS manufacturers for autonomous vehicles. The EPS protocol and EPS features are the core technologies of autonomous vehicle parts companies. Open to the outside world; different EPS manufacturers open different wire control input and output interfaces, and the open interfaces in the CANBUS (CAN bus) protocol of different...

AI Technical Summary

Problems solved by technology

Some of the above algorithms only consider the lateral component interference of slope gravity, and some only consider road potholes and wind resistance; but for the consideration of unknown EPS characteristics, road potholes, wind resistance, uncertainty of front wheel rotation model parameters of autonomous vehicles, and slope gravity In the case of lateral component interference, there is no extended disturbance observer (Han Jingqing, an extended state observer for a class of uncertain objects [J]. Control and Decision, 1995.01(20):85-88). The algorithm uses the steering torque as the line Application of Steering Angle Tracking Control of Autonomous Vehicle Steering Wheel with Control Input Interface

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