The invention discloses an intelligent vehicle self-adaptive cruise control method based on inverse optimal control. The method comprises the following steps that 1, an intelligent vehicle longitudinal dynamic model is established based on a multiple-input-multiple-output discrete time nonlinear model-free system; 2, constructing an optimal problem, and determining an optimal controller; 3, verifying the proposed controller to ensure the Lyapunov stability of the vehicle; and 4, verifying that the proposed controller can meet the optimality of the performance index. Compared with other control methods, the method considers an uncertain nonlinear discrete time system, and is wider in application. According to the method, the safety of the vehicle can be effectively guaranteed, an HJB equation is avoided, and a meaningful cost function is minimized.
本发明公开了一种基于逆最优控制的智能汽车自适应巡航控制方法,包括步骤如下:步骤一:基于多输入多输出离散时间非线性无模型系统建立智能车辆纵向动力学模型;步骤二:构建最优问题,确定最优控制器;步骤三:验证所提出的控制器保证车辆李雅普诺夫稳定性;步骤四:验证所提出的控制器能够满足性能指标的最优性。本发明相比于其他控制方法,考虑了不确定的非线性离散时间系统,在应用上更为广泛。本发明方法能够有效地保证车辆的安全性,避免了HJB方程,并最小化一个有意义的代价函数。
Intelligent automobile self-adaptive cruise control method based on inverse optimal control
一种基于逆最优控制的智能汽车自适应巡航控制方法
2023-11-07
Patent
Electronic Resource
Chinese
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