Intelligent vehicle crosswind resistance control method based on fuzzy adaptive PID control

Abstract

The invention discloses an intelligent vehicle crosswind resistance control method based on fuzzy adaptive PID control, and the method comprises the steps: obtaining a target route of a vehicle when the vehicle meets crosswind interference during high-speed driving, wherein the current state of the vehicle is compared with the target route, and the yaw velocity and the side slip angle error of thevehicle are obtained; obtaining the error change rate of the yaw velocity and the side slip angle according to the yaw velocity and the side slip angle error of the vehicle; according to the error and the error change rate, based on a fuzzy self-adaptive PID controller, determining the control quantity of the vehicle wheel corner; and sending the wheel rotation angle control quantity to a steering motor controller so that the steering motor controller can apply steering torque to a steering column according to the wheel rotation angle target value to complete vehicle steering, and therefore the lateral force of tires is controlled. According to the invention, the fuzzy self-adaptive PID is adopted to control the vehicle when the vehicle is interfered by the crosswind, so that the vehiclehas a certain anti-interference capability on the crosswind, and the operation stability of vehicle driving is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to an intelligent vehicle anti-sidewind control method based on fuzzy adaptive PID control. Background technique [0002] The so-called "smart vehicle" is based on the addition of advanced sensors (radar, camera), controllers, actuators and other devices on the basis of ordinary vehicles, and realizes intelligence with people, vehicles, roads, etc. Information exchange enables the vehicle to have intelligent environmental perception capabilities, which can automatically analyze the safety and dangerous state of the vehicle, and make the vehicle reach the destination according to the wishes of the person, and finally achieve the purpose of operating instead of humans. [0003] When the car is running at high speed, it is often disturbed by the crosswind. The aerodynamic lateral force and aerodynamic yaw moment caused by the crosswind will change the cornering characterist...

AI Technical Summary

Problems solved by technology

[0003] When the car is running at high speed, it is often disturbed by the crosswind. The aerodynamic lateral force and aerodynamic yaw moment caused by the crosswind will change the cornering characteristics of the tire, and even cause the car to "spin" and other unsteady steering, resulting in If the vehicle deviates from the predetermined driving route, it may also cause sideslip or rollover, which seriously affects the safety of driving

When the vehicle suddenly interferes with the side, the driver may cause traffic accidents due to unskilled and inexperienced drivers who do not respond in time, and if the crosswind response state of the high-speed vehicle is completely dependent on the driver's adjustment, it will increase. The manipulation burden of a large driver poses a serious safety hazard

At present, the research on the control of vehicle crosswind stability is still in its infancy. The existing research mainly focuses on the body shape and its structure selection, and the research on the active control of vehicle crosswind stability is almost blank.

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