The invention discloses a front wheel steering vehicle lane keeping control method based on prediction function control. The method comprises the following steps: physical parameters of a vehicle aredetermined; a deviation state space model is established according to the dynamic relationship of the vehicle; a reference driving state of the vehicle is obtained according to the current position ofthe vehicle; the actual driving state of the vehicle is collected, and the lateral deviation at the current moment is calculated; a front wheel turning angle is calculated by using a prediction function control method to ensure that the vehicle runs on a lane center line; and the calculated front wheel steering angle is sent to a steering angle control execution unit, and rolling optimization solving is carried out. By means of the method, the front wheel turning angle vehicle can keep running in the center of the lane on various roads, the vehicle can quickly respond to the change of the center line of the lane, and meanwhile the method has the advantages of being small in overshoot, stable and the like.
本发明公开了一种基于预测函数控制的前轮转向车辆车道保持控制方法,包括如下步骤:确定车辆的物理参数;根据车辆的动力学关系建立偏差状态空间模型;根据车辆当前所处位置,获得车辆的参考行驶状态;采集车辆的实际行驶状态,计算当前时刻的横向偏差;使用预测函数控制方法计算前轮转角以保证车辆在车道中心线行驶;将计算出的前轮转向角度送给转角控制执行单元,滚动优化求解。利用本发明方法,能够使前轮转角车辆在各类道路上保持在车道中心行驶,车辆可以迅速响应车道中心线的变化,同时具有超调量小,稳定等优点。
Front wheel steering vehicle lane keeping control method based on prediction function control
一种基于预测函数控制的前轮转向车辆车道保持控制方法
2020-05-01
Patent
Electronic Resource
Chinese
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