An Adaptive Dynamic Sliding Mode Autonomous 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: 2022-04-12
JILIN UNIV
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AI Technical Summary

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.

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  • An Adaptive Dynamic Sliding Mode Autonomous Vehicle Path Tracking Control Method Considering Input Saturation
  • An Adaptive Dynamic Sliding Mode Autonomous Vehicle Path Tracking Control Method Considering Input Saturation
  • An Adaptive Dynamic Sliding Mode Autonomous Vehicle Path Tracking Control Method Considering Input Saturation

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Embodiment Construction

[0079] see Figure 1 to Figure 3 Shown:

[0080] The adaptive dynamic sliding mode self-driving vehicle path tracking control method considering input saturation provided by the present invention comprises the following steps:

[0081] Step 1. Establish an integrated path tracking model that considers both kinematics and two-degree-of-freedom vehicle dynamics.

[0082] Such as figure 1 The vehicle kinematics-based path-following error model shown is as follows:

[0083]

[0084] 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 x is the longitudinal velocity of the vehicle; 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;

[0085] The dynam...

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Abstract

The invention discloses an adaptive dynamic sliding mode automatic driving vehicle path tracking control method considering input saturation. The method is as follows: Step 1. Establishing a comprehensive path tracking model that simultaneously considers kinematics and two-degree-of-freedom vehicle dynamics; Step 2. Based on the idea of ​​backstepping method, use the dynamic sliding mode control theory to design the control rate of the front wheel angle of the vehicle; Step 3. Use the adaptive method based on the equivalent deterministic principle to estimate the uncertain items in real time; Step 4. Consider the control For the problem of input saturation, the dynamic compensation method of saturation error is used to correct the adaptive control rate; the beneficial effect is that the kinematics and dynamic characteristics of the vehicle can be fully considered during path tracking. The present invention improves the adaptive controller designed in the third step of the present invention by constructing an auxiliary compensation system for controlling saturation compensation, and ensures the driving stability of the vehicle path tracking process by solving the control problem with input saturation constraints.

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 Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D2201/02
Inventor 赵健杜金朋朱冰陈虹旭
Owner JILIN UNIV
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