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Intelligent vehicle steering control system and method based on piecewise affine layered control

A segmented affine, layered control technology, applied in the direction of automatic steering control components, steering mechanisms, steering rods, etc., can solve vehicle instability, cannot accurately reflect vehicle status, and cannot solve the control requirements and control of autonomous steering control systems. function and other issues to achieve the effect of improving control accuracy and improving vehicle stability

Inactive Publication Date: 2019-05-10
JIANGSU UNIV
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AI Technical Summary

Problems solved by technology

The existing vehicle dynamics model ignores the nonlinear characteristics of the tire cornering force. When the vehicle is driving at high speed and the road adhesion coefficient is very low, the vehicle is prone to instability.
Therefore, the existing dynamic model cannot accurately reflect the state of the vehicle
[0003] Facing the ultimate goal of unmanned driving, the intelligent vehicle lateral control system is required to have accurate, efficient and reliable control capabilities under multiple working conditions to ensure vehicle steering stability, driving safety and ride comfort. The traditional single steering control algorithm Cannot solve and coordinate the control requirements and control functions of the autonomous steering control system under different working conditions

Method used

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  • Intelligent vehicle steering control system and method based on piecewise affine layered control
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  • Intelligent vehicle steering control system and method based on piecewise affine layered control

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Embodiment Construction

[0089] The present invention will be further described below in conjunction with accompanying drawing.

[0090] Step1: Environmental perception module

[0091] Real-time collection of road information ahead of the smart car, yaw rate γ, vehicle speed v x , and the side slip angle β of the center of mass;

[0092] Step2: Path planning module

[0093] Plan a barrier-free expected path based on the data transmitted by the perception module;

[0094] Step3: piecewise affine module

[0095] The relationship between tire slip angle and deflection force is segmented into affine, and the model parameter identification of the segmental affine system includes data subspace segmentation, linear model parameter estimation of each subspace, and switching surface equation coefficient estimation. The test data of tire slip angle and lateral force under various working conditions are collected by multi-dimensional force sensors, and the parameter identification of the segmented affine mod...

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Abstract

The invention discloses an intelligent vehicle steering control system and method based on piecewise affine layered control. Through piecewise affine description of tire nonlinear force, a lateral dynamics PWA model is established, and then different control modes are switched under different vehicle speeds according to the model to achieve accurate steering. According to the intelligent vehicle steering control system and method, a piecewise affine method is adopted to describe the non-linear characteristic of wheel force, and then the vehicle lateral dynamics PWA model is established. Basedon the dynamic model, different control methods are selected under different vehicle speeds and working conditions. Fuzzy speed boundary, divergent switching delay and dynamic performance index are mainly considered in decision-making to improve control accuracy. In addition, a vehicle body stabilization module is additionally arranged at the position of a traditional execution module to detect the center of mass sideslip angle and yaw rate, and soft constraints of the center of mass sideslip angle are put forward according to different working conditions, corresponding yaw moments are appliedto keep the center of mass sideslip angle and yaw rate stable, and thus the vehicle stability is improved.

Description

technical field [0001] The invention belongs to the field of smart car control, and in particular relates to a lateral control system and method of a smart car under segmented affine. Background technique [0002] Intelligent driving, as the core technology of automotive technological transformation, is being carried out in depth on a global scale. The existing vehicle dynamics model ignores the nonlinear characteristics of the tire cornering force. When the vehicle is running at high speed and the road adhesion coefficient is very low, the vehicle is prone to instability. Therefore, the existing dynamic models cannot accurately reflect the state of the vehicle. [0003] Facing the ultimate goal of unmanned driving, the intelligent vehicle lateral control system is required to have accurate, efficient and reliable control capabilities under multiple working conditions to ensure vehicle steering stability, driving safety and ride comfort. The traditional single steering cont...

Claims

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Application Information

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IPC IPC(8): B62D6/00G05D1/02
Inventor 解云鹏蔡英凤陈龙李祎承孙晓强徐兴唐斌施德华沈钰杰
Owner JIANGSU UNIV
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