High- and low-speed unified preview sliding mode driving control method and control system
A control method, high and low speed technology, applied in the direction of the control device, etc., can solve the problems of poor path following performance, poor lateral stability, etc.
Active Publication Date: 2020-09-25
HUBEI UNIV OF AUTOMOTIVE TECH
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Problems solved by technology
In general, the driver behavior of an articulated car is different from that of a monocoque, they have worse path following performance at low speeds, and worse lateral stability and larger trailer units at high speeds Therefore, it is necessary to study and design a driver model suitable for articulated heavy vehicles, which is very necessary for lifting articulated vehicles The lateral stability of the train is of great significance
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[0114] A high and low-speed unified preview synovial film driver model suitable for automobile trains, including the setting of the vehicle driving road, the design of the variable structure controller of the synaptic film, the establishment of the vehicle dynamics model and the acquisition of vehicle parameters. The driving roads are the high-speed road model and the low-speed road model, and the high-speed road is the tractor road preview model. In the high-speed tractor road preview model, based on the traditional lateral position preview control theory, the front wheel steering angle of the tractor is determined. Force the center of the front axle of the tractor to track the target trajectory, and the position of the center of mass of the trailer unit to track the path passed by the center of the front axle of the tractor, that is, the expected path tracked by the trailer unit is the path of the center of mass of the front axle of the tractor after a specific time delay, and...
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The invention belongs to the technical field of driving control, and discloses a high- and low-speed unified preview sliding mode driving control method and control system. A data acquisition module acquires automobile driving road information; a model construction module determines an automobile road model and an automobile dynamic model; a parameter acquisition module obtains relevant parametersof the lateral position, the lateral position change, the lateral speed and the yaw velocity of an automobile train; a controller optimization module is used for optimizing a sliding mode controller;and a control module performs driving control by using the optimized sliding mode controller. According to the high- and low-speed unified preview sliding mode driving control method and control system of the invention, on the basis of the structural characteristics and kinematics requirements of the automobile train, automobile train driver models suitable for a high-and low-speed mode are provided, and when the low-speed model is at a low speed, the path following performance of a trailer unit can be remarkably improved; when the high-speed model is at a high speed, the stability and the safety of the automobile can be improved, and the yaw velocity and the lateral acceleration of each unit are reduced.
Description
technical field [0001] The invention belongs to the technical field of driving control, and in particular relates to a high and low speed unified preview synovial driving control method and control system. Background technique [0002] At present, the driving conditions of automobile trains are different from those of ordinary automobiles. Automobile trains have poorer path following performance at low speeds, worse lateral stability and more severe lateral movement of trailer units at high speeds, and The driver behavior of a single-unit vehicle is different from that of a single-unit vehicle, so the driver model of a single-unit vehicle cannot be simply applied to a multi-unit articulated trailer. At the same time, the driver's direction control model plays an important role in the simulation of the driver-car-road closed-loop system, the development of driver assistance systems, and the control of intelligent vehicles. Due to the limited research on the driver model of ca...
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IPC IPC(8): B60W30/02B60W40/06B60W40/105B60W40/112B60W50/00
CPCB60W30/02B60W40/06B60W40/105B60W40/112B60W50/00B60W2050/0031B60W2050/0028B60W2050/0029Y02T10/40
Inventor 邓召文易强张书乾高伟余伟孔昕昕石振金家琛
Owner HUBEI UNIV OF AUTOMOTIVE TECH