The invention discloses an intelligent automobile transverse control method based on self-adaptive preview time and sliding mode control, which adopts a sliding mode control method (SMC), considers and establishes a single-point self-adaptive preview model in the SMC, and designs an optimization function based on transverse deviation, road boundary and whole automobile motion response characteristics to determine the self-adaptive preview time. According to a steady-state yaw velocity hypothesis, an ideal yaw velocity is obtained by using the preview time and adopting an expectation method, the ideal yaw velocity is used as the input of a sliding mode controller, the sliding mode controller based on the difference between the actual yaw velocity and the ideal yaw velocity is established, and a proper switching function is selected to optimize the ideal steering wheel rotation angle. According to the control method provided by the invention, errors caused by traditional fixed preview time can be overcome, and the tracking performance of the intelligent automobile can be further improved.
本发明公开了一种基于自适应预瞄时间和滑模控制的智能汽车横向控制方法,采用滑模控制方法(SMC),在SMC中考虑建立单点自适应预瞄模型,设计出一种基于横向偏差、道路边界和整车运动响应特性的优化函数来确定自适应预瞄时间。根据稳态横摆角速度假设,利用此预瞄时间采用期望式方法来求得理想横摆角速度,将其作为滑模控制器的输入,建立一种基于实际横摆角速度和理想横摆角速度之差的滑模控制器,并选择合适的切换函数,来对理想方向盘转角进行优化。本发明提出的控制方法能够克服传统固定预瞄时间所带来的误差,能进一步提高智能汽车的跟踪性能。
Intelligent automobile transverse control method based on self-adaptive preview time and sliding mode control
基于自适应预瞄时间和滑模控制的智能汽车横向控制方法
15.03.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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