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Terminal sliding mode control method of RBF neural network applying intelligent vehicle longitudinal speed control

A longitudinal speed and intelligent vehicle technology, applied in the direction of control devices, etc., can solve problems such as chattering, complex models, and slow response speed

Active Publication Date: 2020-04-03
JIANGSU UNIV
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Problems solved by technology

[0003] The existing longitudinal control methods of automobiles are mainly fuzzy control, model predictive control, etc. Although they can control nonlinear models, they still have disadvantages such as slow response speed and too complicated required models.
[0004] Sliding mode variable structure control is a new control method designed for the longitudinal controller of intelligent vehicles in recent years. Frequency switching is easy to cause chattering phenomenon

Method used

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  • Terminal sliding mode control method of RBF neural network applying intelligent vehicle longitudinal speed control
  • Terminal sliding mode control method of RBF neural network applying intelligent vehicle longitudinal speed control
  • Terminal sliding mode control method of RBF neural network applying intelligent vehicle longitudinal speed control

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Embodiment Construction

[0079] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

[0080] Such as figure 1 As shown, the present invention needs to establish a dynamic model of the longitudinal motion characteristics of the intelligent vehicle.

[0081] Step 1: Establish a nonlinear longitudinal motion mathematical model describing the characteristics of the intelligent vehicle through computer simulation, including engine model, torque converter and automatic transmission model, braking system model and vehicle longitudinal motion model.

[0082] Step 1.1: Establish the longitudinal dynamics model of the intelligent vehicle, which mainly includes the engine model, torque converter and automatic transmission model, braking system model and vehicle longitudinal motion model, as follows:

[0083] Engine model:

[0084]

[0085]

[0086] Torque converter and automatic transmission model:

[...

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Abstract

The invention discloses a terminal sliding mode control method of an RBF neural network applying intelligent vehicle longitudinal speed control. The method comprises the following steps: a terminal sliding mode variable structure control algorithm with speed errors as control variables is designed, an RBF neural network controller for conducting self-adaptive adjustment on sliding mode control switching gains is designed, the switching gains are optimized in real time, and finally the expected accelerator opening degree / expected brake pressure needed by a vehicle is obtained through an inverselongitudinal dynamics controller. Through the control model and the control algorithm, the following beneficial effects can be achieved: 1, the longitudinal speed tracking capability of the intelligent vehicle is improved, and the riding comfort and the operation stability of the vehicle are effectively improved; 2, the buffeting characteristic of traditional sliding mode control is effectively suppressed, and the accuracy of sliding mode control in longitudinal speed control is further improved; and 3, the requirement on the accuracy of the vehicle model is not high, the control is easy to realize, and the method has important significance for the development of medium-high-end vehicles and intelligent transportation.

Description

technical field [0001] The invention belongs to the technical field of vehicle control, and relates to a method for controlling the longitudinal motion of an intelligent vehicle, in particular to a method for controlling the longitudinal motion of an intelligent vehicle based on an RBF neural network sliding mode algorithm. Background technique [0002] As the future development direction of vehicles and the core part of intelligent transportation system, intelligent vehicles have attracted extensive attention of scholars from various countries in recent years. Longitudinal control refers to the adjustment of the longitudinal speed of the vehicle through a certain control method based on the information obtained by the on-board sensor system, and the automatic longitudinal acceleration and deceleration function of the smart car, which determines the quality of the autonomous driving performance of the smart car. Longitudinal control is the basis of autonomous driving of smar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/06B60W10/18B60W50/00
CPCB60W10/06B60W10/18B60W50/0098B60W2050/0037B60W2050/0039B60W2050/0041B60W2050/0043B60W2710/0605B60W2710/182
Inventor 汪少华惠易佳孙晓强施德华张弛
Owner JIANGSU UNIV
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