The invention belongs to the technical field of intelligent vehicle control, and particularly relates to a complex working condition-oriented adaptive intelligent vehicle hybrid control system and method. The control algorithm module comprises a hybrid control method combining a stanley algorithm and a pure tracking algorithm and an mpc algorithm adopting a radial basis function neural network to compensate modeling precision, the hybrid control method is applied to a low-speed scene and a medium-high-speed straight road scene, and the mpc algorithm is applied to a medium-high-speed curve scene; the model scheduling module is used for establishing a geometric model and a dynamic model and calling different models according to the requirements of an algorithm, and when the hybrid control method is used, the geometric model is used; when the mpc algorithm is used, the kinetic model is called. According to information sent by planning and a chassis, which scene is located is judged, and a control strategy is adaptively switched, so that the optimal control method can be selected in different scenes, and the tracking effect of control is improved.

    本发明属于智能车辆控制技术领域,具体为一种面向复杂工况自适应的智能车混合控制系统及方法,包括:场景切换模块;控制算法模块,包含stanley和纯跟踪算法相结合的混合控制方法,以及采用径向基神经网络补偿建模精度的mpc算法,混合控制方法应用于低速场景和中高速直线道路场景,mpc算法则用于中高速的弯道场景下;模型调度模块,包括几何学模型和动力学模型的建立,以及根据算法的需求调用不同的模型,当使用混合控制方法时,则使用几何学模型;当使用mpc算法时,则调用动力学模型。根据规划和底盘发来的信息,判断处于哪种场景下,自适应的切换控制策略,从而在不同的场景都能选择最优的控制方法,提高控制的跟踪效果。


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    Title :

    Complex working condition-oriented self-adaptive intelligent vehicle hybrid control system and method


    Additional title:

    一种面向复杂工况自适应的智能车混合控制系统及方法


    Contributors:
    LIU JIE (author) / ZHENG RENJIE (author) / XIA ZETAO (author) / YE TENGJU (author) / WANG JINGKE (author)

    Publication date :

    2024-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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