Multipoint pre-aiming LQR transverse control method based on Fiala brush tire model

A tire model, lateral control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as deviation from the desired path and vehicle instability

Active Publication Date: 2020-07-10
HUNAN UNIV +1
View PDF5 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Some existing lateral control algorithms, such as PID, model predictive control, optimal control and other control algorithms, are basically improving the error accuracy of path tracking, but in real road conditions, vehicles ofte

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multipoint pre-aiming LQR transverse control method based on Fiala brush tire model
  • Multipoint pre-aiming LQR transverse control method based on Fiala brush tire model
  • Multipoint pre-aiming LQR transverse control method based on Fiala brush tire model

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach

[0075] As an improved specific implementation, the vehicle two-degree-of-freedom dynamics model in the step 1 is:

[0076]

[0077]

[0078] In the formula, F f is the cornering force of the front wheel, F r is the rear wheel cornering force, m is the mass of the vehicle, U y and U x are the lateral velocity and longitudinal velocity, r is the yaw rate of the vehicle, a and b are the distances between the front axle, the rear axle and the center of mass of the vehicle, respectively, I z is the steering moment of inertia of the vehicle. Through the above method, the two-degree-of-freedom dynamic model of the vehicle can be effectively constructed, and the model is related to each basic parameter data of the vehicle, so that the model can accurately reflect the specific situation of the vehicle. .

[0079] As an improved specific implementation, the tracking error model based on the vehicle strike center in the step 1 is:

[0080]

[0081]

[0082]

[0083] ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a multipoint pre-aiming LQR transverse control method based on a Fiala brush tire model. The method comprises the steps that 1, establishing a vehicle two-degree-of-freedom kinetic model and a tracking error model based on a vehicle striking center; 2, establishing a state space equation of the system; 3, combining the path curvature serving as disturbance quantity with a state vector of the system to construct an augmented LQR control problem; 4, solving a Riccati equation of the augmented LQR system to obtain an optimal feedforward control quantity and an optimal feedback control quantity; and 5, utilizing the obtained optimal control quantity, namely the front wheel lateral deviation force. According to the invention, curvature information of a plurality of roadpoints can be pre-aimed through the LQR controller in a limited time domain; in addition, the front wheel lateral deviation force can be restrained through the front wheel rotating angle under the condition that the vehicle has large transverse acceleration, so that the vehicle can keep good transverse stability and path tracking precision, and the situation that the vehicle is unstable due to tire force saturation under the limit working condition is avoided.

Description

technical field [0001] The technical field of intelligent vehicle lateral control of the present invention, in particular relates to a multi-point preview LQR lateral control method based on a Fiala brush tire model. Background technique [0002] In recent years, the number of automobiles has been increasing, the technical capabilities of transportation have been continuously improved, and the demand for intelligent driving technology of automobiles is also increasing. Based on the actual needs, research and exploration of related technologies for intelligent vehicle motion control have been carried out. Intelligent vehicle motion control technology can be divided into two types: lateral control and longitudinal control according to different control objectives. Among them, lateral control technology is one of the key technologies to realize autonomous driving of intelligent vehicles. The lateral control of intelligent vehicles is to make the vehicle drive along the desired...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 秦兆博陈亮丁荣军胡满江秦晓辉徐彪谢国涛王晓伟边有钢陈鑫
Owner HUNAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap