Automobile longitudinal acceleration tracking control method

Abstract

The invention relates to a method for tracking and controlling the longitudinal acceleration of vehicle, belonging to the vehicle longitudinal dynamics control technique. It is characterized in that: it utilizes the estimator of multiplicative deterministic model of controlled object formed by reversed and positive dynamic models, to estimate the system increment of present input signal on the model difference between each model and real object, and uses the estimated system increment as the switch index function, to on-line select relative controller from the controller, to control the opening degree of throttle valve of engine and realize the track and control of longitudinal acceleration, with high stability and track ability.

Description

Technical field: [0001] A vehicle longitudinal acceleration tracking control method belongs to the technical field of vehicle longitudinal dynamics control. Background technique: [0002] Vehicle longitudinal motion control systems are usually designed in a hierarchical structure: the upper layer controller outputs the desired acceleration according to the relative vehicle distance and vehicle speed, and the design mainly considers driver characteristics, queue stability, and traffic flow; the lower layer acceleration tracking controller implements The control of the mechanism makes the actual acceleration of the car track the expected value, and the vehicle dynamics problem is mainly considered in the design. Vehicle longitudinal acceleration tracking control is one of the key technologies of vehicle longitudinal motion control. Document 1 (Mikael Persson, etc. Adaptive cruise control system controller design with start-stop function, Proceedings of the 1999 IEEEInternatio...

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Problems solved by technology

[0003] The above control method requires a relatively accurate vehicle model, even if H ∞ Robust control methods such as

However, under actual driving conditions, the model error caused by the inevitable unmodeled dynamic characteristics and parameter changes in the modeling process will cause the longitudinal dynamic characteristics of the vehicle to change in a large range, making the control through a fixed parameter It is difficult for the controller to obtain better acceleration tracking performance while ensuring closed-loop stability

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