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Mechanism analysis-data driven vehicle dynamics series hybrid model, intelligent vehicle trajectory tracking control method and controller

A data-driven model and vehicle dynamics technology, applied in the field of vehicle dynamics series hybrid model, intelligent vehicle trajectory tracking control method and controller, can solve the problems of model interpretability and stability bottleneck, and ensure safety and stability The effect of running, improving forecasting ability, and improving calculation accuracy

Pending Publication Date: 2022-07-01
JIANGSU UNIV
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Problems solved by technology

However, the basic theories related to the application of data-driven technology to establish vehicle dynamics models still need to be improved, and there are bottlenecks in the interpretability and stability of the model

Method used

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  • Mechanism analysis-data driven vehicle dynamics series hybrid model, intelligent vehicle trajectory tracking control method and controller
  • Mechanism analysis-data driven vehicle dynamics series hybrid model, intelligent vehicle trajectory tracking control method and controller
  • Mechanism analysis-data driven vehicle dynamics series hybrid model, intelligent vehicle trajectory tracking control method and controller

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with the accompanying drawings.

[0014] figure 1 The control flow chart of intelligent vehicle trajectory tracking based on vehicle dynamics hybrid model is as follows:

[0015] Construct a mechanism analysis-data-driven vehicle dynamics series hybrid model as a prediction model. The vehicle state and control data are processed by the mechanism model to realize the front-end calculation and processing. The cascade is combined as the input of the data-driven module, and the long and short-term memory network is used as the backbone network to realize the time series. Nonlinear correlation feature extraction of data and final model output computation.

[0016] Extract the weight parameters of the neural network for model forward calculation. Use Euler integral to complete the discretization of the prediction model, design the model predictive control trajectory tracking algorithm, and design the feedf...

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Abstract

The invention discloses a mechanism analysis-data driven vehicle dynamics series hybrid model, an intelligent vehicle trajectory tracking control method and a controller, and provides the mechanism analysis-data driven vehicle dynamics series hybrid model which has the advantages of good system mechanics background and physical significance of a mechanism model. The method has the advantages that the data-driven model does not need any priori knowledge and only depends on sample data, and advantage complementation between the models is achieved through fusion of the data-driven model and the sample data. The model can supplement part of unmodeled dynamics in a computer mechanical model and improve the global calculation precision of the model, has the capability of implicitly understanding different road adhesion conditions, and lays a good model foundation for the design of an intelligent automobile motion control algorithm. An accurate vehicle dynamics model is introduced into the control method and serves as a prediction model, the prediction capacity of future state output of the vehicle is effectively improved, nonlinear constraint conditions are added, and the control precision, stability and reliability are improved.

Description

technical field [0001] The invention belongs to the field of intelligent vehicle dynamics control, and in particular relates to a mechanism analysis-data-driven vehicle dynamics series hybrid model, an intelligent vehicle trajectory tracking control method and a controller. Background technique [0002] With the continuous improvement of the driver's requirements for the safety, mobility and ride comfort of the vehicle and the increasingly mature control theory, the research on automobile intelligent technology has received extensive attention. The vehicle dynamics model-based control technology of autonomous vehicles can achieve better road utilization and higher safety, but it also needs to adapt to various complex driving environments, such as roads with different road adhesion coefficients and curvature changes. Driving, or to achieve safe and stable emergency obstacle avoidance operations in emergency conditions. [0003] Trajectory tracking control, as an important su...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00B60W50/00
CPCB60W60/001B60W50/0097
Inventor 方培俊蔡英凤廉玉波陈龙钟益林王海孙晓强
Owner JIANGSU UNIV
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