Unmanned vehicle path tracking control method based on nonlinear tire and driver model

A control method and path tracking technology, applied in the direction of control devices, etc., can solve the problems of few, consider the driver model, etc., achieve low physiological and psychological load intensity, improve tracking performance and stability performance, improve tracking performance and unmanned driving. The effect of vehicle stability

Pending Publication Date: 2021-10-01
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] At present, most of the driver models are used in the development and application of ADAS advanced driver assistance systems, and there are few studies considering the driver model in the path tracking control of unmanned vehicles

Method used

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  • Unmanned vehicle path tracking control method based on nonlinear tire and driver model
  • Unmanned vehicle path tracking control method based on nonlinear tire and driver model
  • Unmanned vehicle path tracking control method based on nonlinear tire and driver model

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Embodiment Construction

[0095] Further detailed description of the technical solution of the present invention will be described below with reference to the drawings:

[0096] like figure 1 As shown, the present invention discloses an unmanned vehicle path tracking control method based on a nonlinear tire and a driver model, which specifically includes the following steps:

[0097] Step 1) Establish a three-degree-freedom drone dynamics model that considers the lateral motion, longitudinal movement and yawning movement of the front drive

[0098]

[0099] In the formula, M is the quality of the unmanned vehicle, The longitudinal speed, lateral speed, Dividend acceleration, lateral acceleration, F, respectively xf , F yf The force of the X direction, Y direction, F xr , F yr The force, the force of the X direction, and the force of the rear tire, respectively. For the horizontal angular speed, Hand angular acceleration, I z Rotating inertia for unmanned winding Z axes, L f L r The distance between th...

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Abstract

The invention discloses an unmanned vehicle path tracking control method based on a nonlinear tire and a driver model. A model predictive control (MPC) method is adopted, a two-point preview driver mode is considered in the MPC, a near point is used for acquiring position deviation information of an unmanned vehicle, a far point is used for acquiring curvature information of a far road, five characteristic parameters are used for describing the manipulation proficiency of a driver, and the rotating angle of a driver model is used as the state quantity and the output quantity of a controller. The considered nonlinear tire model adopts a magic formula tire model, and the tire force is expressed by using a composite function relational expression, so that the situation that the tracking effect becomes poor due to error accumulation is avoided. The tracking performance and the physiological and psychological load intensity of the driver are considered in the target function, so that the overall performance of the controller is optimized. The control method provided by the invention can further improve the tracking performance of an unmanned vehicle, so that the unmanned vehicle can meet more complex and realistic traffic scenes.

Description

Technical field [0001] The present invention belongs to the path tracking control of unmanned vehicles, and in particular relates to unmanned vehicle tires and driver model based on non-linear path tracking control method. Background technique [0002] With the progress and development of science and technology, continue to strengthen the car's intelligent, unmanned vehicles is the current focus of many automotive manufacturers and IT R & D focus of these companies with the accumulation of years of unmanned car manufacturing experience and a strong background data and other information support, well aware of the difficulties and unmanned research breakthrough. Although driverless car driver does not need to control, people may still need to carry out research and development program, driving the process may be subject to confounding factors, some bad road conditions, the study of the unmanned vehicle control algorithms and improvement is a issues at stake. [0003] Most MPC algor...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W50/00
CPCB60W60/001B60W50/00B60W2050/0029B60W2050/0031
Inventor 孙铭鸿林棻马守刚
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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