The invention discloses an unmanned formula car steering and braking coordination control method and system. The control system comprises an extension entropy weight joint controller, a steering control system based on incremental PID and a brake control system based on an adaptive fuzzy neural network. The control method comprises the steps of ideal trajectory planning, ideal parameter obtaining,an extension entropy weight combined controller control method, a control method of the steering control system based on incremental PID and a brake control system control method based on the self-adaptive fuzzy neural network. Steering and braking are jointly controlled through the extensible entropy weight combined controller, interference caused by the fact that a coupling relation exists between a steering system and a braking system is greatly reduced, the risk that a racing car deviates from a racing rail due to the fact that the speed of the racing car is too high or steering real-time performance is insufficient is reduced, the overall performance of the racing car is improved, and control cost is reduced.
本发明公开了一种无人驾驶方程式赛车转向与制动协调控制方法及系统。该控制系统包括可拓熵权联合控制器、基于增量式PID的转向控制系统以及基于自适应模糊神经网络的制动控制系统。该控制方法包括理想轨迹的规划和理想参数的获取、可拓熵权联合控制器的控制方法、基于增量式PID的转向控制系统的控制方法以及基于自适应模糊神经网络的制动控制系统的控制方法。本发明针对无人驾驶方程式赛车的转向与制动协调控制系统,通过可拓熵权联合控制器对转向与制动进行联合控制,大大降低转向系统和制动系统之间由于存在耦合关系造成的干扰,减少赛车因速度过快或转向实时性不足带来的偏离赛道的风险,提高赛车的整体性能,降低控制成本。
Unmanned formula car steering and braking coordination control method and system
一种无人驾驶方程式赛车转向与制动协调控制方法及系统
2020-05-15
Patent
Electronic Resource
Chinese
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge |
Unmanned racing car braking and steering cooperative collision avoidance control method and system
European Patent Office | 2021
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