Unmanned formula car steering and braking coordination control method and system

Abstract

The invention discloses an unmanned formula car steering and braking coordination control method and system. The control system comprises an extension entropy weight joint controller, a steering control system based on incremental PID and a brake control system based on an adaptive fuzzy neural network. The control method comprises the steps of ideal trajectory planning, ideal parameter obtaining,an extension entropy weight combined controller control method, a control method of the steering control system based on incremental PID and a brake control system control method based on the self-adaptive fuzzy neural network. Steering and braking are jointly controlled through the extensible entropy weight combined controller, interference caused by the fact that a coupling relation exists between a steering system and a braking system is greatly reduced, the risk that a racing car deviates from a racing rail due to the fact that the speed of the racing car is too high or steering real-time performance is insufficient is reduced, the overall performance of the racing car is improved, and control cost is reduced.

Description

technical field [0001] The invention relates to the field of unmanned driving, in particular to a steering and braking coordinated control method and system for an unmanned formula racing car. Background technique [0002] The Chinese University Student Driverless Formula Competition is sponsored by the Society of Automotive Engineers of China, and is an automobile design and manufacturing competition organized by college students majoring in automobiles from various colleges and universities. As the race progresses, the cars go faster and faster on a given track. [0003] At present, the domestic driverless formula cars mostly use separate steering or braking control when cornering, so as to achieve a large deceleration at the corner and smooth cornering, or directly use slow and constant speed control to ensure that the car does not deviate when cornering. track, but both methods will greatly increase lap times. Similar to ordinary family cars, when the racing car is cor...

AI Technical Summary

Problems solved by technology

Similar to ordinary family cars, when the racing car is cornering, there is a certain coupling relationship between the steering and braking system, and the nonlinearity is strong. If the steering or braking control is used alone when cornering, the lateral stability of the car needs to be improved , which may cause the car to knock over the bucket or go off track

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