The invention discloses an LQR-based SMC commercial vehicle intelligent driving transverse control method, and the method comprises the steps: determining an LQR state equation according to a vehicle transverse dynamic model, carrying out the discretization, constructing a feedback controller and a cost function based on the discretized state equation, calculating an LQR target control quantity, carrying out the linear processing of the LQR target control quantity, and carrying out the linear control of the LQR target control quantity. Determining a sliding mode surface of the SMC sliding mode controller according to the processed target control quantity; the approaching rate of the SMC sliding mode controller is determined according to the vehicle implementation driving data and the sliding mode state; and calculating the reciprocal of the sliding mode surface based on the vehicle dynamics model and the sliding mode surface, determining the final front wheel torque according to the reciprocal of the sliding mode surface and the approaching rate, and performing transverse control on the vehicle according to the final front wheel torque. Based on the optimal control theory, the LQR feedback control rate is calculated, the sliding mode surface is designed based on the vehicle dynamics model, the final front wheel steering angle is calculated, the vehicle control precision requirement is met, the robustness is higher, and the control requirements of all scenes of the commercial vehicle can be met.

    本发明公开了一种基于LQR的SMC商用车智能驾驶横向控制方法,根据车辆横向动力学模型确定LQR状态方程并离散化,基于离散化的状态方程构造反馈控制器及代价函数,计算LQR目标控制量,对LQR目标控制量进行线性化处理,根据处理后的目标控制量确定SMC滑膜控制器的滑膜面;根据车辆实施行驶数据和滑膜状态确定SMC滑膜控制器的趋近率;基于车辆动力学模型和滑膜面计算滑膜面倒数,根据滑膜面倒数和趋近率确定最终前轮转矩,根据最终前轮转矩对车辆进行横向控制。本发明基于最优控制理论,计算LQR反馈控制率,基于车辆动力学模型设计滑模面,计算最终前轮转角,不仅满足车辆控制精度要求,而且鲁棒性更强,能满足商用车各个场景的控制需求。


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    Titel :

    SMC commercial vehicle intelligent driving transverse control method based on LQR


    Weitere Titelangaben:

    一种基于LQR的SMC商用车智能驾驶横向控制方法


    Beteiligte:
    WAN SIXI (Autor:in) / LI YANG (Autor:in) / GUAN JIE (Autor:in) / YU RUI (Autor:in) / BI YAMENG (Autor:in)

    Erscheinungsdatum :

    2022-09-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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