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Self-adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation

A path tracking and tracking control technology, applied in vehicle position/route/height control, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of uncertain parameters, external unknown interference, etc., to ensure driving The effect of stability

Active Publication Date: 2021-07-16
JILIN UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide an adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation in order to solve the problems of parameter uncertainty and external unknown interference in the path tracking process of the automatic driving vehicle.

Method used

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  • Self-adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation
  • Self-adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation
  • Self-adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation

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Embodiment Construction

[0078] see Figure 1 to Figure 3 Shown:

[0079] The adaptive dynamic sliding mode self-driving vehicle path tracking control method considering input saturation provided by the present invention comprises the following steps:

[0080] Step 1. Establish an integrated path tracking model that considers both kinematics and two-degree-of-freedom vehicle dynamics.

[0081] like figure 1 The shown vehicle kinematics-based path-following error model expression is as follows:

[0082]

[0083] where e y is the distance between the center of mass of the vehicle and the corresponding point on the desired path on the y-axis of the vehicle center of mass coordinate system; v y is the lateral speed of the vehicle; is the difference between the heading angle of the vehicle and the corresponding point on the desired path; ρ is the curvature of the corresponding point on the desired path; r is the yaw rate of the vehicle.

[0084] The dynamics models involved in the integrated path...

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Abstract

The invention discloses a self-adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation. The method comprises the steps of 1, establishing a comprehensive path tracking model considering kinematics and two-degree-of-freedom vehicle dynamics at the same time; 2, based on the thought of a backstepping method, designing the vehicle front wheel steering angle control rate through the dynamic sliding mode control theory; step 3, estimating the uncertain items in real time by using an adaptive method based on an equivalence certainty principle; and 4, considering the control input saturation problem, and correcting the adaptive control rate by adopting a saturation error dynamic compensation method. The method has the advantage that kinematics and dynamics characteristics of the vehicle during path tracking can be fully considered. According to the method, an auxiliary compensation system for controlling saturation compensation is constructed, the self-adaptive controller designed in the step 3 is improved, and the driving stability in the vehicle path tracking process is guaranteed by solving the problem of input saturation constraint control.

Description

technical field [0001] The invention relates to a path tracking control method for an automatic driving vehicle, in particular to an adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation. Background technique [0002] In recent years, social problems such as traffic congestion, accidental injuries, and environmental pollution have become increasingly serious. Self-driving vehicles are considered to be an effective and systematic approach to improve road utilization, improve vehicle safety, and reduce mobility costs due to their advantages of not requiring driver operation. The path tracking module plays an extremely important role in determining the autonomous driving performance of the self-driving vehicle. It strives to continuously and smoothly track the desired path determined by the path planning module with the highest possible accuracy. However, the parameter uncertainties and inevitable external disturbance...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 赵健杜金朋朱冰陈虹旭
Owner JILIN UNIV
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