A Lane Keeping Control Method for Front Wheel Steering Vehicles Based on Predictive Function Control

Abstract

The invention discloses a lane keeping control method for a front wheel steering vehicle based on predictive function control, comprising the following steps: determining the physical parameters of the vehicle; establishing a deviation state space model according to the dynamic relationship of the vehicle; The reference driving state of the vehicle; collect the actual driving state of the vehicle, and calculate the lateral deviation at the current moment; use the predictive function control method to calculate the front wheel angle to ensure that the vehicle is driving on the centerline of the lane; send the calculated front wheel steering angle to the angle control Execution unit, rolling optimization solver. Utilizing the method of the invention, the vehicle with the front wheel angle can be kept running at the center of the lane on various roads, and the vehicle can quickly respond to the change of the center line of the lane, and meanwhile has the advantages of small overshoot, stability and the like.

Description

technical field [0001] The invention belongs to the field of vehicle lateral motion control in vehicle control systems, in particular to a lane keeping control method for front-wheel steering vehicles based on predictive function control. Background technique [0002] With the rapid development of the economy and the automobile industry, the production and consumption of vehicles have expanded, and more and more cars have entered thousands of households. With the continuous increase in the number of cars, problems such as traffic congestion and sudden accidents have become increasingly prominent. [0003] The intelligent assisted driving technology in automatic driving can assist the driver to make the driving of the vehicle safer and more efficient. The automatic lane keeping system focuses on the lateral control of the vehicle to ensure that the vehicle drives along the centerline of the lane. [0004] With the increasingly high requirements for the lateral control of vehi...

AI Technical Summary

Problems solved by technology

[0005] For vehicle lane keeping, many scholars have designed corresponding steering control strategies: considering the time-varying parameters of vehicle lateral dynamics, designing a PID lane keeping control algorithm based on BP neural network; aiming at the uncertainty of the vehicle model, researched Adaptive steering control algorithm, but the online identification of parameters brings a lot of inconvenience to the realization of the control algorithm; Aiming at the speed disturbance during the driving process of the vehicle, the lane keeping control rate based on fuzzy Takagi-Sugeno (T-S) is studied, although the algorithm The requirements for model accuracy are low, but the control accuracy is not high

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