Parameter uncertainty autonomous vehicle speed-changing cruise system robust control method
An autonomous vehicle technology with uncertain parameters, which is applied in the field of automatic vehicle cruise control, and can solve problems such as the influence of vehicle driving stability
Active Publication Date: 2019-05-17
ZHEJIANG UNIV OF TECH
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In practical applications, the controller designed only based on the system model with constant parameters may have a great impact on the stability of the vehicle due to the large difference between the system state model and the actual vehicle system state
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[0036] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0037] Reference Figure 1 ~ Figure 5 , A robust control method for a variable-speed cruise system of an autonomous vehicle with uncertain parameters, the control method comprising the following steps:
[0038] 1) Establish a third-order state space mathematical model of the vehicle adaptive cruise system, see formula (1):
[0039]
[0040] Among them, the subscript 1 represents the own vehicle, and the subscript 0 represents the preceding vehicle; the variable t represents the time; the state variable δ 1 (t), Δν 1 (t) and a 1 (t) respectively represent the distance error between the preceding vehicle and the vehicle at time t, the relative speed and the acceleration of the vehicle; a 0 (t) represents the acceleration of the vehicle ahead at time t; u 1 (t) represents the command acceleration of the vehicle at time t; parameter h 1 with Are the time ...
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The invention relates to a parameter uncertainty autonomous vehicle speed-changing cruise system robust control method. The method comprises the following steps: 1) building a vehicle self-adaptive cruise system three-order spatial mathematical model; 2) defining a robust control function of the vehicle self-adaptive cruise system at the moment t; and 3) acquiring the separation distance error andthe relative speed of a front vehicle and the vehicle at the current moment as well as the accelerated speed of the vehicle through a vehicle-mounted sensor, acquiring the accelerated speed of the front vehicle at the current moment through wireless channel transmission, calculating the safety vehicle separation distance control quantity u1(t) of the vehicle self-adaptive cruise system in real time according to an equation (4), driving the vehicle to track the motion state of the front vehicle, acquiring the separation distance error and the relative speed of the front vehicle and the vehicleas well as the accelerated speed of the vehicle through the vehicle-mounted sensor in the next control period, acquiring the accelerated speed of the front vehicle through wireless channel transmission, so the cycle is repeated, and the high-stability and real-time property parameter uncertainty autonomous vehicle speed-changing cruise system robust control of the vehicle is realized. The parameter uncertainty autonomous vehicle speed-changing cruise system robust control method is intuitive in understanding, simple in design and easy to implement.
Description
Technical field [0001] The invention belongs to the field of vehicle cruise automatic control, and a robust control method for an autonomous vehicle variable speed cruise system with uncertain parameters. Background technique [0002] Vehicle adaptive cruise control can obtain vehicle status information and surrounding vehicle information through on-board sensor systems and other communication methods, and use acceleration control algorithms to adjust vehicle acceleration to maintain a stable and safe distance from the vehicle ahead. This not only improves the safety and comfort of vehicle driving, and reduces the burden on the driver, but also effectively reduces the energy consumption of vehicle driving and improves road traffic density. Therefore, the research on vehicle adaptive cruise control system has always been a hot spot in the field of vehicle automatic control and intelligence. The existing theoretical research on vehicle adaptive cruise system control methods includ...
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IPC IPC(8): B60W30/16
Inventor 宋秀兰陈丽何德峰张昱孟利民余世明丁锋
Owner ZHEJIANG UNIV OF TECH