The invention discloses a vehicle transverse stability control method based on online state compensation MPC, and belongs to the technical field of vehicle safety control. According to the vehicle transverse stability control method based on the online state compensation MPC, on the basis of a linear two-degree-of-freedom vehicle dynamics model, an online self-adaptive neural network is designed, and the uncertainty state caused under the low-adhesion road surface condition is compensated. On the basis of a linear two-degree-of-freedom vehicle dynamics model, an online adaptive neural network is designed, an uncertainty state caused under a low-adhesion road surface condition is compensated, and a vehicle lateral stability controller is designed under a model prediction control framework based on the compensation model. The control target comprises tracking of the yaw velocity and suppression of the lateral velocity, and the lateral velocity and the control quantity are constrained. According to the method, the state quantity of the system can be effectively compensated without a large amount of off-line training, and the method has better universality.
一种基于在线状态补偿MPC的车辆横向稳定性控制方法,属于车辆安全控制技术领域。本发明的目的是在线性二自由度车辆动力学模型的基础上,设计在线自适应神经网络,对低附着路面条件下引起的不确定性状态进行补偿的基于在线状态补偿MPC的车辆横向稳定性控制方法。本发明在线性二自由度车辆动力学模型的基础上,设计在线自适应神经网络,对低附着路面条件下引起的不确定性状态进行补偿,基于该补偿模型在模型预测控制框架下设计车辆横向稳定控制器,控制目标包括横摆角速度的跟踪和抑制侧向速度,并对侧向速度以及控制量进行约束。本发明不需要进行大量的离线训练就可有效对系统的状态量进行补偿,具有更好的泛用性。
Vehicle transverse stability control method based on online state compensation MPC
基于在线状态补偿MPC的车辆横向稳定性控制方法
2023-07-07
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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