Trajectory tracking control method for automatic driving automobile

Abstract

Disclosed is a trajectory tracking control method for automatic driving automobile. The inevitable network delay and data loss problem are considered in the process of modeling the trajectory trackingcontrol of the automatic driving automobiles, and the generalized time delay expression is more conducive to the design of the controller. The design of the trajectory tracking control of the automatic driving automobile comprehensively considers the uncertainty of the vehicle dynamics model and the influence of external disturbances, and improves the steering stability of the vehicle and the robustness of the trajectory tracking control. By solving the linear matrix inequality, an automatic driving automobile track tracking control problem containing network time delay and data packet loss is solved, and calculation is convenient. By solving the linear matrix inequality, the problem of trajectory tracking control of automatic driving automobiles with network delay and data loss is solved. By solving the convex optimization problem, the lower bound of the disturbance rejection performance index of the trajectory tracking control problem of the automatic driving automobiles can be calculated, so that an optimal trajectory tracking controller can be obtained.

Description

technical field [0001] The invention relates to the field of trajectory tracking control of an automatic driving vehicle, in particular to a method for controlling the trajectory of an automatic driving vehicle. Background technique [0002] Self-driving cars can effectively improve the driving safety of vehicles, achieve better road utilization, and greatly reduce the cost of mobility, which provides the possibility to fundamentally change the traditional mode of transportation. Therefore, it has become an emerging research hotspot in recent years. . As one of the key technologies of autonomous vehicles, the vehicle's trajectory tracking control goal is how to control the vehicle's steering system so that the vehicle can drive along the desired route while ensuring the vehicle's driving safety and ride comfort. The tracking deviation generated during the driving process of the self-driving car, that is, the distance deviation and the angle deviation, and the trajectory tra...

AI Technical Summary

Problems solved by technology

[0003] The existing trajectory tracking control algorithms for autonomous vehicles include fuzzy control, adaptive robust control, iterative learning control, sliding mode control, model predictive control methods, etc., and most of these control methods are based on precise mathematical models. The driving conditions of the vehicle are complex and changeable, and the actual vehicle dynamics model has a high degree of uncertainty and is easily affected by external disturbances

At the same time, there are usually unavoidable delays and data packet loss problems in the process of vehicle state measurement and signal transmission, which will greatly reduce the performance of the controller and even destroy the stability of the system

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