The invention relates to an intelligent vehicle robust adaptive cruise control method based on adaptive dynamic programming, and the method comprises the steps: building a longitudinal dynamic model and a tracking error dynamic model of a vehicle for an intelligent vehicle with unknown matching disturbance; then, according to an optimal control principle, a robust optimal controller is designed to realize adaptive cruise of the intelligent vehicle, and an evaluation network is constructed by using an adaptive dynamic programming method and is used for approaching unknown parameters of the controller, so that optimal control input is solved. According to the method, the self-adaptive dynamic planning method is introduced, the constructed evaluation network can well approach the optimal cost function, solving through an HJB equation is not needed, the calculation amount is greatly reduced, and the proposed control strategy can well guarantee the asymptotic stability and the driving comfort of the vehicle.
本发明涉及基于自适应动态规划的智能车辆鲁棒自适应巡航控制方法,针对存在未知匹配扰动的智能车辆,建立车辆的纵向动力学模型和跟踪误差动力学模型;然后根据最优控制原理,设计了一种鲁棒最优控制器实现智能车辆的自适应巡航,并使用自适应动态规划方法构建了一个评价网络,用于逼近控制器的未知参数,从而求解最优控制输入。本发明引入了自适应动态规划方法,所构建的评价网络可以很好地逼近最优成本函数,而无需通过HJB方程求解,极大地减少了计算量,且提出的控制策略能够很好的保证车辆的渐进稳定性和驾乘舒适性。
Intelligent vehicle robust adaptive cruise control method based on adaptive dynamic programming
基于自适应动态规划的智能车辆鲁棒自适应巡航控制方法
2023-09-22
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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