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Automatic tracking control method for intelligent commercial vehicles based on output feedback gain planning

A technology of automatic tracking and output feedback, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that it is difficult to ensure better control effect, and achieve the effect of robust and stable improvement

Active Publication Date: 2020-06-16
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems existing in the prior art, the present invention proposes an automatic tracking control method for intelligent commercial vehicles based on output feedback gain planning. The problem of ensuring better control effect

Method used

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  • Automatic tracking control method for intelligent commercial vehicles based on output feedback gain planning
  • Automatic tracking control method for intelligent commercial vehicles based on output feedback gain planning
  • Automatic tracking control method for intelligent commercial vehicles based on output feedback gain planning

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Embodiment 1

[0093] Example 1: The derivation process of the claims:

[0094] Such as figure 1 As shown, an automatic tracking control method for output feedback gain planning of an intelligent commercial vehicle includes the following steps:

[0095] (1) Establish a commercial vehicle dynamics model based on known vehicle model parameters combined with Newtonian mechanics principles, and obtain four-degree-of-freedom dynamics of commercial vehicles including lateral, yaw, sprung mass roll, and unsprung mass roll The learning model is:

[0096]

[0097]

[0098]

[0099] (2) Obtain the lateral position deviation e of the vehicle relative to the expected path at the current moment during the tracking process according to the environment perception sensor signal of the intelligent commercial vehicle 1 and heading angle deviation e 2 , and extended to the commercial vehicle dynamics model, the state equation of the automatic tracking system is obtained:

[0100]

[0101] (3) D...

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Abstract

The invention discloses an automatic tracking control method for an intelligent commercial vehicle based on output feedback gain planning, and the method comprises the following steps of obtaining a lateral position deviation and a heading angle deviation of the vehicle at a current time relative to a reference point; augmenting the lateral position deviation and the heading angle deviation of thevehicle as tracking states into a commercial vehicle dynamics model to obtain a state equation of the automatic tracking system; obtaining an automatic tracking model of generalized commercial vehicle based on the design of the weighting function of each control target of the tracking system; using the vehicle speed of the main influencing factor of the lateral motion control of commercial vehicles as a model time-varying parameter, proposing a horizontal tracking control strategy according to the adaptive scheduling controller gain of the time-varying vehicle speed based on an output feedback gain planning control law; and solving the final solution of the lateral tracking control strategy in the step 4, thereby implementing the lateral automatic tracking control of the intelligent commercial vehicle. The invention adopts the method of gain planning to improve the accuracy of the tracking of the intelligent commercial vehicle under the premise of ensuring the robust stability of thesystem.

Description

technical field [0001] The invention belongs to the field of automatic tracking control of intelligent vehicles, in particular to an automatic tracking control method of intelligent commercial vehicles based on output feedback gain planning. Background technique [0002] Intelligent control of vehicle dynamics is an important part of realizing vehicle intelligence. Lateral automatic tracking control is the key technology of intelligent control. The control strategy can achieve the desired goal without the participation of the driver according to the external environment information and the state of the vehicle. Path auto-following tasks. [0003] At present, most of the existing patents use traditional PID control algorithms or modern control methods based on state feedback to design vehicle lateral automatic tracking control strategies for passenger vehicles. However, on the one hand, compared with passenger cars, commercial vehicles have more complex lateral automatic tra...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 季学武刘玉龙杨恺明刘亚辉
Owner TSINGHUA UNIV