The invention discloses an automobile trajectory tracking control method. The method comprises the following steps: 1) identifying a driver model based on a neural network; 2) establishing a three-degree-of-freedom automobile model; and 3) designing a yaw moment controller according to the identified driver model and the three-degree-of-freedom automobile model to complete automobile trajectory tracking. Through driver model identification, the steering behavior of the driver is predicted according to the reference path and the current state of the automobile, so that the human-automobile closed-loop system tracks the reference path in a customized mode on the premise of conforming to the driving habit of the driver, and manipulation interference caused by unified control over the driver by a driving assistance system is avoided; targeted driving assistance is used for reducing the driving burden of a driver, and the tracking effect of the driver on an ideal track is improved.
本发明公开了一种汽车轨迹跟踪控制方法,步骤如下:1)基于神经网络对驾驶员模型进行辨识:2)建立三自由度汽车模型;3)根据上述辨识的驾驶员模型和三自由度汽车模型设计横摆力矩控制器完成汽车轨迹跟踪。本发明通过驾驶员模型辨识,根据参考路径及汽车当前状态预测驾驶员转向行为,使得人‑车闭环系统在符合驾驶员驾驶习惯的前提下以定制的方式对参考路径进行跟踪,避免驾驶辅助系统的统一化控制驾驶员带来操纵干扰,利用针对性的驾驶辅助减轻驾驶员驾驶负担,提高驾驶员对理想轨迹的跟踪效果。
Automobile trajectory tracking control method
一种汽车轨迹跟踪控制方法
2020-12-04
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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