The invention provides a vehicle stability control method based on kernel approximate dynamic programming. The method comprises the following steps: firstly, establishing a tire nonlinear vehicle stability control model; then collecting sample data and constructing kernel features; then establishing a kernel-based approximate dynamic programming learning rule; and finally, solving and iterating to obtain an optimal control quantity to act on the intelligent vehicle. According to the method, a better nonlinear mapping relation can be realized by adopting a kernel function as a primary function, sparsification of a kernel method is realized by adopting approximate linear correlation analysis, a kernel dictionary is obtained, weight iteration updating of a controller and an evaluator can be carried out by utilizing recursive least squares with forgetting factors and a time sequence difference algorithm based on the kernel function, and the algorithm is more accurate. The method has the adaptive learning capability, fusion of a vehicle model and vehicle data can be realized, excessive dependence on data and model accuracy is prevented, and stability control of the vehicle can be realized by better tracking and controlling the yaw velocity of the vehicle.

    本发明提供了一种基于核的近似动态规划的车辆稳定性控制方法,首先建立轮胎非线性的车辆稳定性控制模型;然后采集样本数据并进行核特征的构建;然后建立基于核的近似动态规划学习规则;最后求解迭代得到最优控制量作用到智能车上;本方法能够采用核函数作为基函数实现更好的非线性映射关系,采用近似线性相关分析实现核方法的稀疏化,得到核词典,能够利用基于核函数的带有遗忘因子递归最小二乘和时序差分算法来进行控制器和评价器权重迭代更新,具有自适应学习的能力,本方法可以实现车辆模型与车辆数据的融合,防止过度依赖数据和模型的精准,可以更好的对车辆横摆角速度跟踪控制来实现对车辆的稳定性控制。


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    Titel :

    Vehicle stability control method based on kernel approximate dynamic programming


    Weitere Titelangaben:

    一种基于核的近似动态规划的车辆稳定性控制方法


    Beteiligte:
    GUO HONGYAN (Autor:in) / TAN ZHONGQIU (Autor:in) / LIU JUN (Autor:in) / GUO JINGZHENG (Autor:in) / ZHAO XU (Autor:in) / LIU YANRAN (Autor:in)

    Erscheinungsdatum :

    2023-03-14


    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



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