Intelligent vehicle model prediction steering controller based on model reconstruction and control method thereof

A technology of steering controller and smart car, which is applied in the direction of automatic steering control components, steering mechanism, steering rod, etc., which can solve the problem of fast response, safety and comfort of smart cars, and the steering control is not well coordinated. Parameter nonlinearity and time-varying characteristics, not suitable for double shifting paths, etc.

Active Publication Date: 2020-01-24
JIANGSU UNIV
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Problems solved by technology

[0003] The dynamic model of the car is a nonlinear, strongly coupled multivariable time-varying system. The steering control of the smart car is a nonlinear control problem with strong coupling, multiple disturbances, and unmodeled dynamics. It has a very important role in the overall control process of the smart car. The traditional control algorithm has not been well coordinated to solve the problem of parameter nonlinearity and time-varying characteri

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  • Intelligent vehicle model prediction steering controller based on model reconstruction and control method thereof
  • Intelligent vehicle model prediction steering controller based on model reconstruction and control method thereof
  • Intelligent vehicle model prediction steering controller based on model reconstruction and control method thereof

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[0048] The present invention will be further described below in conjunction with the drawings.

[0049] Such as figure 1 As shown, the original smart car model is simplified and equivalent, and the original smart car model is a two-degree-of-freedom model The original model of the smart car includes parameters: the distance from the front wheel to the center of mass a, the distance from the rear wheel to the center of mass b, and the front wheel cornering stiffness k 1 、Rear wheel cornering stiffness k 2 , Car mass m, moment of inertia I z , Front wheel angle δ, longitudinal speed u, lateral speed v, yaw rate ω r , The input variable of the original model of the smart car is the front wheel angle δ, and the control variable is the yaw rate ω r And lateral velocity v, the output variable is lateral velocity v;

[0050] Such as figure 2 As shown, the smart car right inverse model, the smart car right inverse model is composed of an integrator and an adaptive neuro-fuzzy inference sys...

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Abstract

The invention discloses an intelligent vehicle model prediction steering controller based on model reconstruction and a control method thereof. On the basis of intelligently sensing the environment outside a vehicle and parameters of the vehicle, a right inverted model of an existing model is established first and is placed on the right side of the existing model, an intelligent vehicle steering model is reconstructed, a left inverted model of the existing model is established then and is used for observing the yaw velocity parameter, then the model prediction steering controller is designed according to the reconstructed new model and the observed yaw velocity parameter, the intelligent vehicle model prediction steering control based on the model reconstruction is realized, and the intelligent vehicle steering control performance and the intelligent level are improved. By comprehensively using the inverted models and the model prediction control method, data is observed through the reconstructed new model and the left inverted model, the model prediction controller is reasonably designed, the purpose is definite, the method is simple, the yaw velocity response data can be conveniently observed, multiple interference factors are restrained, unmodeled dynamics is overcome, and the high-performance control effect is obtained.

Description

Technical field [0001] The invention relates to the field of intelligent automobile steering control, in particular to an intelligent automobile model predictive steering controller based on model reconstruction and a control method thereof. Background technique [0002] Smart cars are high-tech products based on environmental perception technology, computer technology, information technology and intelligent control technology. The transformation and upgrading of the automotive industry in the context of a new round of technological changes will be a process of gradual realization of intelligent automotive products. As a carrier for the application of multiple new technologies in the future, smart cars will provide new possibilities for the automotive industry to effectively solve safety, energy and environmental issues: including accident avoidance, fuel consumption and emission control optimization under intelligent vehicle operation, and smart transportation mode Energy saving...

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Application Information

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IPC IPC(8): B62D6/00
CPCB62D6/00
Inventor 蔡英凤滕成龙陈龙孙晓强邹凯孙晓东王海
Owner JIANGSU UNIV
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