The invention provides a pure tracking control preview distance optimization method based on a double-time-delay vehicle model, and the method comprises the steps: giving vehicle state information which comprises the initial state of a vehicle, a target trajectory and an expected speed; the method comprises the following steps: establishing a double-time-delay vehicle model, including control loop time delay and steering system time delay, combining an ABMSSA algorithm, analyzing the stability of a double-time-delay vehicle model system, optimizing threshold lower limit selection of the ABMSSA algorithm, and outputting an optimal preview distance under a given fitness function; and in combination with a pure tracking controller, longitudinal control and transverse control are performed on the vehicle, so that the vehicle runs along the planned target path. According to the method, optimal preview distance configuration under different vehicle speeds is researched, the influence of control loop time delay and steering system time delay on a vehicle model and the stability of the vehicle model is analyzed in combination with actual vehicle phenomena, a double-time-delay vehicle model is updated, the preview distance is optimized in combination with an ABMSSA optimization method, and the path tracking precision and the control effect are improved.
本发明提供了一种基于双时延车辆模型的纯跟踪控制预瞄距离优化方法,包括:给定车辆状态信息,包括车辆初始状态、目标轨迹和期望速度;建立双时延车辆模型,包括控制回路时延和转向系统时延,结合ABMSSA算法,分析双时延车辆模型系统的稳定性,优化ABMSSA算法的阈值下限选取,输出给定适应度函数下的最优预瞄距离;结合纯追踪控制器,对车辆进行纵向控制和横向控制,使车辆沿着规划的目标路径行驶。本发明研究不同车辆速度下的最优预瞄距离配置,同时结合实际车辆现象分析控制回路时延和转向系统时延对车辆模型及其稳定性的影响,更新双时延车辆模型,并结合ABMSSA优化方法对预瞄距离进行优化,提高路径跟踪精度和控制效果。
Pure tracking control preview distance optimization method based on double-delay vehicle model
一种基于双时延车辆模型的纯跟踪控制预瞄距离优化方法
2023-06-27
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 |
Trajectory tracking control method and system for optimizing preview distance
European Patent Office | 2024
|European Patent Office | 2023
|