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Trajectory following parallel prediction method fusing vehicle model and tire force curve

A vehicle model and prediction method technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as poor real-time performance, poor trajectory tracking effect, and low computational efficiency.

Active Publication Date: 2021-07-06
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

The existing vehicle desired trajectory following control method has poor real-time performance and low calculation efficiency, resulting in poor trajectory following effect

Method used

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  • Trajectory following parallel prediction method fusing vehicle model and tire force curve
  • Trajectory following parallel prediction method fusing vehicle model and tire force curve
  • Trajectory following parallel prediction method fusing vehicle model and tire force curve

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Experimental program
Comparison scheme
Effect test

Embodiment

[0092] A trajectory-following parallel prediction method that fuses vehicle models and tire force curves, such as figure 1 , 2 shown, including the following steps:

[0093] S1: Obtain the tire force map according to the tire test experiment and embed it into the vehicle dynamics model to obtain the prediction model of the lateral displacement and vehicle speed of the vehicle trajectory following control system.

[0094] Step S1 specifically includes:

[0095] S11: Construct a three-degree-of-freedom vehicle model of the vehicle:

[0096]

[0097]

[0098]

[0099] Among them, F xf is the longitudinal force of the front wheel, υ x is the longitudinal velocity of the vehicle, υ y is the lateral velocity of the vehicle, F yf , F yr are the lateral forces of the front and rear wheels respectively, m is the mass of the vehicle, a and b are the distances from the center of mass to the front and rear axles, γ is the yaw rate, I z is the moment of inertia of the cent...

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Abstract

The invention relates to a trajectory following parallel prediction method fusing a vehicle model and a tire force curve. The method comprises the following steps: constructing a lateral displacement and vehicle speed prediction model of a vehicle trajectory following control system; establishing a target function by taking the deviation between the actual lateral displacement and vehicle speed of the vehicle and the expected lateral displacement and vehicle speed as well as the change range of the front wheel turning angle and driving force on the vehicle as small as possible as a target; establishing a parallel computing architecture of the prediction model and the target function, solving the calculation gradient by adopting a back propagation mode, and optimizing the control quantity of the opening degree of the throttle valve and the opening degree of the bypass valve of the execution mechanism by utilizing a gradient descent method, so that the real-time coordination control of the gas path of the turbine engine is realized. Compared with the prior art, the control precision of the model is further improved, and the real-time performance of the track following prediction control system fusing the vehicle model and the tire force curve is improved.

Description

technical field [0001] The invention relates to the field of trajectory following control of unmanned vehicles, in particular to a parallel prediction method for trajectory following by fusing vehicle models and tire force curves. Background technique [0002] Trajectory-following control is one of the four core technologies of perception, decision-making, planning, and control of unmanned vehicles. As the underlying control execution unit, it directly affects the horizontal and vertical motion states of unmanned vehicles and whether it can realize the expectations of the upper-level decision-making planning system. The trajectory of the unmanned vehicle, and accurate tire force is the key to trajectory following control for unmanned vehicles. Considering multiple control requirements such as vehicle comfort, ride comfort and safety, vehicle desired trajectory following control is a nonlinear time-delay multi-objective constrained optimization problem. The existing vehicle ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/15G06F30/27G06F119/14
CPCG06F30/15G06F30/27G06F2119/14Y02T10/40
Inventor 陈虹李斌孟强黄岩军张琳胡浩奇
Owner TONGJI UNIV
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