The invention discloses a vehicle path tracking method for model switching based on the real-time state of a vehicle. The method comprises the following steps: establishing kinematics and dynamics vehicle models; inputting the current vehicle state I into a constructed model switching controller, evaluating the current state of the vehicle according to an output value of the model switching controller, and further judging whether vehicle model switching needs to be carried out or not; performing conversion based on the current vehicle model to obtain an MPC cost function; the vehicle state II is input into a constructed weight adjustment controller, and the algorithm is adjusted in real time through a weight matrix value obtained by the weight adjustment controller; and by solving the MPC problem model, path tracking of the unmanned vehicle is realized. The invention provides a vehicle path tracking method for performing model switching based on a vehicle real-time state, which is used for solving the problems of vehicle driving stability and time consumption in a traditional path tracking process and improving the resource utilization rate and the driving stability of a vehicle during driving.
本发明公开了一种基于车辆实时状态进行模型切换的车辆路径跟踪方法,包括:建立运动学和动力学车辆模型;将当前的车辆状态Ⅰ作为输入构建好的模型切换控制器中,以根据模型切换控制器的输出值对车辆当前状态进行评估,进而判断是否需要进行车辆模型切换;基于当前的车辆模型进行换算,以得到MPC代价函数;将车辆状态Ⅱ输入已构建好的权重调节控制器中,以通过权重调节控制器得出的权重矩阵值对算法进行实时调节;通过求解MPC问题模型,实现对无人驾驶车辆的路径跟踪。本发明提供一种基于车辆实时状态进行模型切换的车辆路径跟踪方法,用于解决传统路径跟踪过程中,车辆的行驶稳定性以及时间消耗的问题,提高车辆在行驶中资源使用率和行驶稳定性。
Vehicle path tracking method for model switching based on vehicle real-time state
基于车辆实时状态进行模型切换的车辆路径跟踪方法
2023-11-07
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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