The invention discloses a vehicle autonomous drifting control method based on a learning type model predictive controller, which comprises the following steps: (1) for a vehicle in a steady-state drifting state, constructing a three-degree-of-freedom vehicle model, approximating tire force based on a magic formula, and further calculating to obtain a steady-state drifting balance point; (2) constructing a model prediction controller for algorithm construction of a drifting vehicle controller; (3) correcting the steady-state drift balance point in the step (1) and optimizing the weight coefficient of the model prediction controller in the step (2) by adopting a Bayesian optimization algorithm; and (4) controlling the vehicle to complete steady-state drift based on the optimized drift balance point in the step (3) and the controller weight coefficient. According to the method, the control conflict between maintaining the vehicle drifting state and path tracking is balanced, the influence of modeling errors on the system is reduced, the control performance of the drifting vehicle is improved, and safety guarantee is provided for the automatic driving vehicle under extreme conditions.
本发明公开了一种基于学习型模型预测控制器的车辆自主漂移控制方法,包括以下步骤:(1)对于稳态漂移状态的车辆,构造三自由度车辆模型,并基于魔术公式近似轮胎力,进一步计算得到稳态漂移平衡点;(2)采用构造模型预测控制器,用于算法构造漂移漂移车辆控制器;(3)采用贝叶斯优化算法,修正步骤(1)中的稳态漂移平衡点,优化步骤(2)中模型预测控制器的权重系数;(4)基于步骤(3)中的优化后的漂移平衡点与控制器权重系数,控制车辆完成稳态漂移。本发明平衡了维持车辆漂移状态与路径跟踪之间的控制冲突,减小建模误差对系统的影响,提高漂移车辆的控制性能,为极端条件下的自动驾驶车辆提供了安全保障。
Vehicle autonomous drift control method based on learning type model predictive controller
一种基于学习型模型预测控制器的车辆自主漂移控制方法
2024-05-14
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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