Intelligent vehicle path tracking control system and method based on Gray Wolf Optimizer (GWO)

A path tracking and smart car technology, applied in the field of smart car path tracking control system based on the gray wolf algorithm, can solve the problems of not considering the influence of path tracking accuracy, traffic accidents, etc., and achieve good robustness and global convergence performance, The effect of improving precision and improving precision and efficiency

Pending Publication Date: 2019-12-31
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

In the whole driving process, the human factor of the driver accounts for a large proportion. Once the driver drives for a long time, fatigues and makes mistakes in judgment, it is easy to cause traffic accidents.
The usual path-following control method only focuses on the trajectory control of the car, ignoring the influ

Method used

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  • Intelligent vehicle path tracking control system and method based on Gray Wolf Optimizer (GWO)
  • Intelligent vehicle path tracking control system and method based on Gray Wolf Optimizer (GWO)
  • Intelligent vehicle path tracking control system and method based on Gray Wolf Optimizer (GWO)

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with accompanying drawing.

[0020] The invention provides a smart car path tracking control system based on gray wolf algorithm, the system such as figure 1 As shown, it includes the path planning system, the path tracking decision system and the vehicle chassis execution system connected in sequence.

[0021] Among them, the path planning system is a path planning program built in the car driving computer, which can sense the road and obstacles ahead according to the car sensor system, and plan the optimal driving path at the future time. At present, the path planning system has been researched and applied in the field of intelligent driving, and will not be repeated here.

[0022] The path tracking decision-making system includes two subsystems of a driver predictive controller and a GWO (Grey Wolf Algorithm) attitude controller, and the predictive controller adopts a preview-following driver model...

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Abstract

The invention provides an intelligent vehicle path tracking control system and method based on a Gray Wolf Optimizer (GWO). The intelligent vehicle path tracking control system includes a path planning system, a path tracking decision system and a vehicle chassis execution system which are connected in sequence, wherein the path tracking decision system includes two subsystems of a driver prediction controller and a GWO attitude controller, a preview-follower driver model based on the vehicle side acceleration feedback correction is adopted in the prediction controller, and the GWO is adoptedin the GWO attitude controller. According to the intelligent vehicle path tracking control system and method, an ideal path is planned by the path planning system, the path tracking decision system receives the ideal path information, the driving state of a vehicle is adjusted through a wire-controlled steering actuator and a hub motor brake actuator of the vehicle chassis execution system, the accurate tracking of the ideal path is realized, and the driving stability of the vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle path tracking, in particular to an intelligent vehicle path tracking control system and method based on gray wolf algorithm. Background technique [0002] With the advancement of the times and the development of technology, the process of "four modernizations" (electricity, intelligence, networking, and sharing) of automobiles is gradually accelerating. Automobiles with L1 (driving support) and L2 (partial automation) level automatic driving functions Has been listed in succession. In the process of realizing autonomous driving, human-machine co-driving is a very important development stage. In the whole driving process, the driver's human factors account for a large proportion. Once the driver drives for a long time, fatigues and makes mistakes in judgment, it is easy to cause traffic accidents. The usual path-following control method only focuses on the trajectory control of the ca...

Claims

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Application Information

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IPC IPC(8): B60W30/10B60W40/06B60W40/10
CPCB60W30/10B60W40/06B60W40/10B60W2710/18B60W2710/20
Inventor 葛召浩赵又群闫茜周凯
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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