A vehicle longitudinal tracking control method based on multi-objective performance fusion
A tracking control and multi-objective technology, applied in the field of intelligent vehicle control, can solve problems such as increasing fuel consumption rate, achieve the effects of optimizing fuel economy and safety, enhancing active safety, and improving comfort
Active Publication Date: 2022-08-02
CHANGZHOU INST OF TECH
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In the prior art, the fusion of multi-objective performance is achieved by designing a loss function based on multi-objective performance, and it is possible to increase fuel consumption under special conditions
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[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.
[0031] like figure 1 As shown, a vehicle longitudinal tracking control method based on multi-target performance fusion includes the following steps:
[0032] Step (1), through the steering wheel sensor, accelerometer, wheel speed sensor and radar installed on the vehicle, respectively obtain the front wheel rotation angle δ f , lateral acceleration a y , longitudinal speed ν, longitudinal distance d.
[0033] Step (2), designing a sliding mode observer (SMO) for maintaining the longitudinal distance
[0034] The vehicle following control needs to maintain an ideal longitudinal distance, reserve enough reaction time and braking distance for the driver, and at the same time ensure that the comfort during braking is within the threshold that the occupants can bear. Accordi...
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The invention provides a vehicle longitudinal tracking control method based on multi-target performance fusion. First, a sliding mode observer is designed to obtain the longitudinal vehicle speed that maintains the ideal longitudinal distance; secondly, the longitudinal vehicle speed that maintains the ideal longitudinal distance, the vehicle's optimal fuel consumption speed and the safe vehicle speed are used as inputs to design a multi-objective performance vehicle speed fusion control Finally, the longitudinal output vehicle speed is used as the reference value of the lower controller to determine the engine output torque and braking torque, and then obtain the throttle opening and braking pressure to control the vehicle actuator. The sliding mode observer designed in the present invention can improve the comfort of the system without sacrificing the vehicle following performance; the designed multi-objective performance vehicle speed fusion controller takes into account the influence of wind resistance, and prevents the vehicle from turning in a turning condition by setting a safe vehicle speed In the event of side slip or rollover, the synergistic optimization of ACC longitudinal following performance and ride comfort, fuel economy and safety is finally achieved.
Description
technical field [0001] The invention belongs to the field of intelligent vehicle control, in particular to a vehicle longitudinal tracking control method based on multi-target performance fusion. Background technique [0002] As an important part of the intelligent transportation system (ITS), autonomous vehicles have attracted more and more attention from related enterprises and research institutions. Adaptive cruise control (ACC) is one of the key technologies of advanced drivers assistant system (ADAS). After years of research, it has been widely commercialized. However, the currently used ACC has the problem of single function and fails to fully release the potential of this technology. In recent years, new control algorithms have been proposed to improve the longitudinal tracking performance of vehicles: in addition to the stability and accuracy of longitudinal control, collaborative optimization based on multi-objective performance has become a current research focus....
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IPC IPC(8): B60W30/165B60W40/105B60W50/00
CPCB60W30/165B60W40/105B60W50/0098B60W2050/0043
Inventor 陈建锋叶贻财胡树林汤传业黄浩乾孙晓东陈龙
Owner CHANGZHOU INST OF TECH