An unmanned vehicle transverse motion control method based on GK clustering algorithm model prediction

Abstract

The invention discloses an unmanned vehicle transverse motion control method based on GK clustering algorithm model prediction. The method comprises the steps of 1, acquiring the current state of a vehicle in real time; 2, collecting the surrounding environment of the vehicle, and planning an expected path in real time; 3, establishing a monorail vehicle model by using a GK clustering algorithm; 4, converting the monorail complete vehicle model obtained in the step 3 into a state space equation of a linear error model, and discretizing the state space equation; 5, using a linear time-varying model prediction control algorithm to establish a linear time-varying model prediction controller; taking the mass center speed under a vehicle coordinate system, the course angle, the yaw velocity andthe vehicle position as input of a model prediction controller, taking the front wheel rotation angle as the output of the controller, calculating the track points in the prediction time domain and acontrol sequence in the control time domain according to the current state and the target track, converting the problem into a quadratic programming problem to obtain an optimal solution, and updating the vehicle state; and 6, sequentially controlling the steering of the target vehicle according to the control quantity obtained by the model prediction controller.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle control, and in particular relates to a control method for lateral motion of an unmanned vehicle predicted based on a GK clustering algorithm model. Background technique [0002] In the prior art research on vehicle dynamics lateral control, many assumptions are made, especially in terms of tire characteristics, usually only the linear region with side slip angle less than 5° is considered, which greatly simplifies the accuracy of the model, thereby reducing the In order to ensure the accuracy of the control, in the actual vehicle movement, especially in high-speed conditions, the slip angle can easily exceed the linear region and reach the non-linear region, causing the instability of the vehicle and easily causing the vehicle to roll over. Therefore, full consideration should be given to The cornering characteristics of tires are of great significance to the study of vehicle lateral ...

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Problems solved by technology

[0002] In the prior art research on vehicle dynamics lateral control, many assumptions are made, especially in terms of tire characteristics, usually only the linear region with side slip angle less than 5° is considered, which greatly simplifies the accuracy of the model, thereby reducing the In order to ensure the accuracy of the control, in the actual vehicle movement, especially in high-speed conditions, the slip angle can easily exceed the linear region and reach the non-linear region, causing the instability of the vehicle and easily causing the vehicle to roll over. Therefore, full consideration should be given to The cornering characteristics of tires are of great significance to the study of vehicle lateral motion control

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