A method for anti-crosswind control of unmanned vehicles

Abstract

The invention discloses a method for anti-crosswind control of an unmanned vehicle, which obtains the actual center of mass side slip angle and yaw rate during the driving process of the vehicle; updates the side slip angle and yaw rate of the state observer module in the self-adaptive controller ; Adjust and obtain the estimated state parameters through the adaptive law module; adjust the control signal in time through the preliminary control law module; filter out the high-frequency signal in the control signal through a low-pass filter to obtain the final control law; the steering motor is controlled according to the wheel angle The steering torque is applied to the steering column to complete the steering of the vehicle, so as to control the lateral force of the tires; the driverless vehicle anti-sidewind control system includes an acquisition module, a comparison module, a self-adjustment module, a control module and an execution module; the system and The method can reduce the influence of crosswind on the unmanned vehicle, improve the anti-interference ability of the unmanned vehicle to the crosswind, and improve the handling stability of the unmanned vehicle 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 winds affect the handling stability of unmanned vehicles, the present invention proposes an anti-side wind control system and control method for unmanned vehicles, which improves the handling stability and enables the unmanned vehicle system to have a good response to side winds. Anti-interference ability

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