Anti-crosswind control system and control method for pilotless automobile based on L1 self-adaptive control

Abstract

The invention discloses an anti-crosswind control method for a pilotless automobile based on L1 self-adaptive control. The method includes the steps that the actual side slip angle and yaw velocity inthe vehicle driving process are obtained; the side slip angle and yaw velocity of a state observer module in a self-adaptive controller are updated; estimated state parameters are adjusted and obtained by a self-adaptive law module; control signals are adjusted in time through a primary control law module; high-frequency signals in the control signals are filtered by a low-pass filter, and a final control law is obtained; and a steering motor applies steering torque to a steering column according to the vehicle wheel corner controlled quantity to complete vehicle steering, and thus the lateral force of a tyre is controlled. An anti-crosswind control system for the pilotless automobile comprises an acquisition module, a comparison module, a self-adjusting module, a control module and an execution module. The system and the method can reduce the influence of crosswind on the pilotless automobile, improve the anti-interference ability of the pilotless automobile to the crosswind, and improve the control stability of the pilotless automobile in the crosswind environment.

Description

technical field [0001] The invention relates to the control field of unmanned vehicles, in particular to an unmanned vehicle anti-sidewind control system and control method based on L1 adaptive control. Background technique [0002] Unmanned vehicles are equipped with advanced on-board sensors, controllers, actuators and other devices, and integrate modern communication and network technologies to realize intelligent information exchange and sharing between vehicles, roads and people, with complex environment perception, intelligent decision-making and Collaborative control and other functions. It can control the steering and speed of the vehicle according to the obtained road, vehicle status and obstacle information, so that the vehicle can safely and reliably drive on the road, while the unmanned vehicle can drive on complex road surfaces (curves, slopes, non-homogeneous roads, etc.) Road surface, etc.) is more challenging than driving on a homogeneous horizontal straight...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that side wind affects the handling stability of unmanned vehicles, the present invention proposes an anti-sidewind control system and control method for unmanned vehicles based on L1 adaptive control, which improves the handling stability and makes the unmanned vehicle system Good anti-interference ability to crosswind

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