The invention relates to a vehicle following servo control method and system based on a forecast observer, and a fully linearized servo control model based on the forecast observer is constructed from the aspects of dynamics and kinematics and is used for vehicle following behavior control. Compared with the prior art, the dynamic safe vehicle distance real-time tracking and the asymptotic convergence of the system state are organically combined, the rear vehicle can reasonably adjust the self behavior according to the error between the actual vehicle distance and the dynamic safe vehicle distance and the behavior change of the front vehicle, and safe, efficient and stable vehicle following operation is achieved; the synchronous control problem of real-time continuous adjustment of the car-following behavior and the actual car distance is solved, the autonomous intelligence and the autonomous adaptive capacity of the car-following system of the car can be remarkably enhanced, and the control level and the control quality of the car-following behavior and the actual car distance are effectively improved.
本发明涉及一种基于预报观测器的车辆跟驰伺服控制方法及系统,从动力学和运动学的角度构建了一种基于预报观测器的、完全线性化的伺服控制模型,用于车辆跟驰行为控制。与现有技术相比,本发明将动态安全车距实时跟踪与系统状态的渐近收敛有机结合起来,后车能够根据实际车距与动态安全车距的误差,以及前车的行为变化,合理调整自身行为,实现安全、高效和平稳跟驰运行,解决了跟驰行为与实际车距实时连续调整的同步控制问题,可显著增强车辆跟驰系统的自主智能和自主适应能力,有效提升跟驰行为与实际车距的控制水平和控制质量。
Vehicle following servo control method and system based on forecast observer
一种基于预报观测器的车辆跟驰伺服控制方法及系统
2022-05-27
Patent
Electronic Resource
Chinese
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