Vehicle speed following adaptive robust control method for electric automatic driving vehicle

Abstract

The invention discloses a vehicle speed following adaptive robust control method for an electric automatic driving vehicle. The vehicle speed following adaptive robust control method comprises the following steps: 1, establishing a vehicle second-order longitudinal kinetic model containing parameter uncertainty and external disturbance terms; 2, carrying out smoothing processing on the step planning vehicle speed; 3, designing a generalized longitudinal force control rate of the vehicle by utilizing a dynamic sliding mode control theory; 4, performing online estimation on the uncertain item by using an RBF neural network; and 5, designing a reasonable underlying actuator switching logic. The method has the beneficial effect of ensuring that the tracking target and the derivative thereof can converge to 0 at an exponential speed. And the practical application problem of conventional sliding mode control is relieved to a great extent. The stability of the controller is ensured, and the buffeting problem of sliding mode control can be further relieved to a certain extent.

Description

technical field [0001] The invention relates to a vehicle speed following adaptive robust control method, in particular to a vehicle speed following adaptive robust control method for electric self-driving vehicles. Background technique [0002] At present, self-driving vehicles are considered to be able to largely alleviate the social problems caused by improper driver operations due to their advantages of no need for driver operation, and self-driving vehicles also have the potential to be used in unstructured scenarios such as military, agricultural or planetary exploration. Huge potential application value. Among them, the control layer located at the bottom of the self-driving vehicle architecture, and the vehicle speed tracking module, which is mainly responsible for accurately tracking the desired vehicle speed, plays a very important role in realizing complex automatic driving tasks. [0003] The common vehicle speed tracking algorithm usually uses the expected spee...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an electric automatic driving vehicle to solve the problem of uncertain parameters existing in the electric automatic driving vehicle itself and several unknown disturbances in the actual interaction process with the environment, which affect the vehicle tracking performance. Speed-following adaptive robust control method for driving vehicles

Images