The invention designs a transverse and longitudinal fusion control method for a brain-controlled vehicle, and provides a transverse and longitudinal fusion control method for the brain-controlled vehicle by taking speed as a coupling point aiming at the transverse and longitudinal fusion control problem of the brain-controlled vehicle. Firstly, the running speed of a vehicle is planned according to road information, and longitudinal speed control of the vehicle is achieved through a hierarchical control method of model predictive control based on condition threshold triggering. Then, a global transverse controller based on soft switching and composed of three ANFIS intelligent controllers is designed, then an output instruction of the global transverse controller and a brain-controlled driver instruction are fused according to the speed of the brain-controlled vehicle to generate a final instruction, and motion control over the vehicle is achieved. A fusion control scheme with the speed as a coupling point is provided, the transverse and longitudinal fusion control simulation model of the brain-controlled vehicle is constructed for verification, the vehicle can still run along the preset runway under the conditions of speed change and multi-curvature paths, the running track is smooth, the control effect is good, and the control precision is high. The method is proved to be effective in realizing transverse and longitudinal fusion control of the brain-controlled vehicle.
本发明设计了一种脑控车辆的横纵向融合控制方法,针对脑控车辆的横纵向融合控制问题,提出以速度为耦合点的脑控车辆横纵向融合控制方法。首先根据道路信息规划车辆的行驶速度,使用基于条件阈值触发的模型预测控制的分层控制方法来实现车辆的纵向速度控制。然后设计了由三个ANFIS智能控制器组成的基于软切换的全局横向控制器,之后根据脑控车辆的速度将全局横向控制器输出指令和脑控驾驶员指令二者进行融合生成最终指令,以实现对车辆的运动控制。本发明提出以速度为耦合点的融合控制方案,并构建脑控车辆的横纵向融合控制仿真模型进行验证,车辆在速度变化和多曲率路径的情况下仍能够沿着预定跑道行驶,运行轨迹平滑,控制效果良好,证明该发明方法对实现脑控车辆的横纵向融合控制的有效性。
Brain-controlled vehicle transverse and longitudinal fusion control method
一种脑控车辆横纵向融合控制方法
2024-01-23
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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