Automatic driving longitudinal control method based on fuzzy control
A technology of automatic driving and fuzzy control, applied in adaptive control, general control system, control/regulation system, etc., can solve the limitation of intelligent control strategy, single longitudinal driving and braking switching logic, and accuracy of inverse longitudinal dynamics model Not high-level problems, to achieve the effect of tracking, high precision, and avoiding switching conflicts
Pending Publication Date: 2022-03-01
JILIN UNIV
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Problems solved by technology
[0003] At present, the longitudinal control of autonomous driving has the following difficulties: 1. The nonlinearity and model uncertainty of autonomous vehicles 2. The accuracy of the inverse longitudinal dynamics model is not high 3. The switching logic of longitudinal driving and braking is single 4. Intelligent control strategy Not combined with proper drive-brake switching logic 5 Calibration-based longitudinal controller control methods have limitations in the use of targets
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Embodiment 1
[0029] Describe the specific implementation below in conjunction with the flow chart in the accompanying drawing
[0030] Depend on figure 1 As mentioned above, the designed direct longitudinal controller based on fuzzy logic is divided into three parts. The first part is the design of the drive controller based on fuzzy logic. The input of the drive controller is the difference (V_error) between the actual vehicle speed (Vx) from the feedback signal of the vehicle model and the expected speed (Vp) output from the upper planning layer and the vehicle model The difference (a_error) between the feedback signal acceleration (ax) and the expected acceleration (ap) output from the upper planning layer. The two differences are calculated by a proportional factor through the PID module, and the precision and signal oscillation are adjusted through the integral link and the differential link, and then enter the drive controller, output the throttle opening to control the torque distr...
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The invention belongs to the technical field of automobile automatic driving, and particularly relates to an automatic driving longitudinal control method based on fuzzy control, which comprises the following steps of: 1, configuring a vehicle model, and using a four-wheel independent driving electric vehicle model; 2, designing a driving fuzzy controller and a braking fuzzy controller; 3, a calibration table is formulated, and a driving and braking switching strategy is designed; 4, a longitudinal controller is set up; the method is reasonable in design, the designed controllers can be combined through a driving and braking switching logic diagram, separate control is carried out, the problem of switching conflict between driving and braking is avoided, and the method conforms to actual driving of a driver. Through off-line simulation, the control strategy is high in precision, and tracking of a speed curve can be achieved.
Description
technical field [0001] The invention relates to the technical field of automobile automatic driving, in particular to a fuzzy control-based automatic driving longitudinal control method. Background technique [0002] Autonomous driving technology has a wide range of application prospects, and the realization of autonomous driving technology needs to rely on the comprehensive functions of perception, decision-making and planning, and control. close link. The control layer is divided into longitudinal control and lateral control. The lateral and longitudinal motion of the vehicle is coupled, and the lateral motion must be caused by the longitudinal motion. Therefore, in order to accurately track the lateral and longitudinal during the trajectory tracking process, the first thing to solve is Longitudinal tracking of longitudinal vehicles. [0003] At present, the longitudinal control of autonomous driving has the following difficulties: 1. The nonlinearity and model uncertain...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 靳立强徐蕾郄鹏波王科李浩邱能齐震宇
Owner JILIN UNIV