Transverse robust fault-tolerant control system and method for four-wheel steering automatic driving automobile

Abstract

The invention discloses a transverse robust fault-tolerant control system and method for a four-wheel steering automatic driving automobile, and belongs to the field of driverless automobiles. The method comprises acquiring driving motion state information and road position information of the four-wheel steering automatic driving automobile in real time through a vehicle-mounted INS module and a vehicle-mounted vision module, and fusing the driving motion state information and the road position information; establishing a transverse control model of the four-wheel steering automatic driving automobile for describing actuator faults, parameter uncertainty and external interference; designing a transverse robust H-infinity fault-tolerant control method to overcome influence of parameter uncertainty of the four-wheel steering automatic driving automobile under the actuator fault condition, ensure asymptotic convergence of error tracking, keeping the stability and riding comfort, and achieving transverse robust fault-tolerant control over the four-wheel steering automatic driving automobile. The transverse tracking performance of the system can be enhanced, so that the automobile canstill accurately run on an expected road when a steering actuator breaks down.

Description

technical field [0001] The invention belongs to the field of unmanned vehicles, and in particular relates to a lateral robust fault-tolerant control system and method of a four-wheel steering automatic driving vehicle. Background technique [0002] An autonomous vehicle is a comprehensive system that integrates environmental perception, decision-making control, and action execution. The advantage of the self-driving car with the four-wheel steering mechanism is that the four-wheel steering mechanism can effectively reduce / eliminate the occurrence probability of vehicle skidding accidents, and obviously improve the stability and safety of the vehicle at high speed. [0003] The lateral control system is one of the core parts of self-driving cars and has a significant impact on the autonomous driving performance of self-driving cars. Lateral control is considered to be one of the most challenging problems in the field of autonomous vehicles due to the characteristics of auton...

AI Technical Summary

Problems solved by technology

[0004] Although many scholars have studied the lateral control of autonomous vehicles, the research on lateral fault-tolerant control of autonomous vehicles with four-wheel steering mechanisms under actuator failures is quite limited.

In addition, there are parameter uncertainties and external disturbances in the lateral dynamics model of four-wheel steering autonomous vehicles. If the uncertainties and external disturbances are not considered during the control design process, the performance of the lateral motion control system will be affected.

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