The invention disclose a control method of tan intelligent automobile under a variable adhesion coefficient repetitive track, which changes the prediction range according to the adhesion coefficient change probability on the basis of a traditional MPC single prediction range so as to improve the emergency capacity of the intelligent automobile. According to the invention, an iterative learning control method is adopted to track the path, the tracking precision of the path is improved, and the driving stability of the intelligent automobile is improved in combination with a yaw stability controller. The MPC controller calls a corresponding control strategy which may occur in advance according to information provided by an environment sensing module, wherein the corresponding control strategy comprises a corresponding prediction time domain and a constraint set; afterwards, iterative learning control is used as a method for determining correct steering input of transient driving, the tracking performance is improved through multiple iterations, and the driving stability of the intelligent automobile is improved in combination with the yaw stability controller.
一种智能汽车在变附着系数重复性轨迹下的控制方法,通过在传统MPC单预测范围的基础上,根据附着系数变化概率改变预测范围,从而提高智能汽车的应急能力。本发明采用迭代学习控制的方法跟踪路径,提高路径的跟踪精度,结合横摆稳定控制器来提高智能汽车的行驶稳定性。本发明的MPC控制器根据环境感知模块提供的信息,预先调用可能出现情况的对应控制策略,其包括相应的预测时域与约束集;在此之后,利用迭代学习控制作为一种确定瞬态驾驶正确转向输入的方法,通过多次迭代来提高跟踪性能,结合横摆稳定控制器来提高智能汽车的行驶稳定性。
Control method of intelligent automobile under variable adhesion coefficient repetitive track
一种智能汽车在变附着系数重复性轨迹下的控制方法
2020-08-21
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 |
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