A speed following adaptive robust control method for electric autonomous vehicles

An adaptive robust and automatic driving technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as parameter uncertainty and affecting vehicle tracking performance

Active Publication Date: 2022-03-15
JILIN UNIV
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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

Method used

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  • A speed following adaptive robust control method for electric autonomous vehicles
  • A speed following adaptive robust control method for electric autonomous vehicles
  • A speed following adaptive robust control method for electric autonomous vehicles

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Embodiment Construction

[0072] see Figure 1 to Figure 2 Shown:

[0073] A strong and robust vehicle speed following control method for an electric four-wheel-drive automatic driving vehicle proposed by the present invention specifically includes the following steps:

[0074] Step 1: Establishing a second-order longitudinal dynamics model of the vehicle including parameter uncertainties and external disturbance items.

[0075] Generally, the longitudinal dynamic model of the vehicle ignores the influence of air resistance and slope resistance, etc., but the method of the present invention focuses on the speed tracking control of the vehicle under the condition of uncertain parameters and certain external disturbances. Item cannot be ignored. Therefore, a complete longitudinal dynamic model is adopted, as shown in the following formula:

[0076]

[0077] In the formula, M is the total mass of the vehicle, which includes the known vehicle curb weight m and the unknown additional carrying mass Δm ...

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Abstract

The invention discloses a vehicle speed following self-adaptive robust control method for an electric self-driving vehicle, which includes the following steps: step 1, establishing a second-order longitudinal dynamics model of the vehicle including uncertain parameters and external disturbance items; step 2 1. Smoothing the step-planned vehicle speed; step 3, using dynamic sliding mode control theory to design the vehicle generalized longitudinal force control rate; step 4, using RBF neural network to estimate the uncertain item online; step 5, designing a reasonable bottom layer Actuator switching logic. Beneficial effect: it is guaranteed that the tracking target and its derivative can converge to 0 at an exponential speed. It alleviates the practical application problems of conventional sliding mode control to a great extent. It not only ensures the stability of the controller, but also alleviates the chattering problem of the sliding mode control 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 赵健杜金朋朱冰陈虹旭
Owner JILIN UNIV
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