A method and system for steering and braking coordinated control of driverless formula car
A formula car and unmanned driving technology, which is applied in the field of steering and braking coordinated control of unmanned formula cars, can solve the problems of racing cars knocking down piles, deviating from the track, and strong nonlinearity
Active Publication Date: 2021-03-23
HEFEI UNIV OF TECH
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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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[0068] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0069] A steering and braking coordination control system for driverless formula racing cars of the present invention includes an extension entropy weight joint controller, an incremental PID-based steering control system and an adaptive fuzzy neural network-based braking control system.
[0070] The invention also discloses a steering and braking coordinated control method for an unmanned formula racing car, and the specific control method is as follows:
[0071] 1. The environment perception system of the driverless formula car plans the ideal driving trajectory of the car by sensing the surround...
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The invention discloses a steering and braking coordinated control method and system for an unmanned formula racing car. The control system includes an extension entropy weight joint controller, a steering control system based on incremental PID and a braking control system based on adaptive fuzzy neural network. The control method includes the planning of ideal trajectory and the acquisition of ideal parameters, the control method of extension entropy weight joint controller, the control method of steering control system based on incremental PID and the braking control system based on adaptive fuzzy neural network. Control Method. The present invention is aimed at the steering and braking coordinated control system of driverless formula racing cars. The joint control of steering and braking is carried out through the extensible entropy weight joint controller, which greatly reduces the damage caused by the coupling relationship between the steering control system and the braking system. interference, reduce the risk of the racing car deviating from the track due to excessive speed or insufficient real-time steering, improve the overall performance of the racing car, and reduce control costs.
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...
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IPC IPC(8): B60W10/20B60W10/18B60W40/06B60W40/10B60W50/00B60T7/12B60T13/74B62D6/00B62D137/00
CPCB60W10/20B60W10/18B60W40/06B60W40/10B60W50/00B60T7/12B60T13/74B62D6/002B60W2050/0043B60W2710/18B60W2710/20B60W40/105B60W2520/10
Inventor 汪洪波胡承磊高含蔡云庆
Owner HEFEI UNIV OF TECH