The invention provides a triggering type model prediction lane changing trajectory tracking control method considering driving habits, and relates to the technical field of intelligent driving control, and the method mainly comprises the steps: building a two-degree-of-freedom vehicle dynamics model and a non-linear kinematics model; converting the vehicle dynamics model and the vehicle kinematics model into a discrete prediction model, and designing an objective function and constraint conditions of a model prediction controller; designing a triggering condition and a control strategy of a tracking controller based on the driver following error; and calculating the control input quantity of the model predictive controller according to the expected trajectory. According to the method, the triggering condition and the control logic of the model prediction controller are designed based on the road following characteristics of the driver, the expected track is tracked by controlling the front wheel turning angle of the automobile, the tracking precision can be guaranteed, meanwhile, the calculated amount of the controller is reduced, and the driving requirement of the driver is met.

    本发明提供一种考虑驾驶习惯的触发型模型预测换道轨迹跟踪控制方法,涉及智能驾驶控制技术领域,方法主要包括:建立二自由度车辆动力学模型与非线性运动学模型;将车辆动力学模型与车辆运动学模型转化为离散预测模型,并设计模型预测控制器的目标函数和约束条件;基于驾驶员跟随误差设计跟踪控制器的触发条件与控制策略;由期望轨迹计算模型预测控制器的控制输入量。本发明基于驾驶员的道路跟随特性设计了模型预测控制器的触发条件与控制逻辑,通过控制汽车的前轮转角来跟踪期望的轨迹,能够实现保证跟踪精度的同时,降低控制器的计算量,并满足驾驶员的驾驶需求。


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    Title :

    Triggering type model prediction lane changing trajectory tracking control method considering driving habits


    Additional title:

    一种考虑驾驶习惯的触发型模型预测换道轨迹跟踪控制方法


    Contributors:
    ZHANG HAN (author) / XU KE (author) / LEE WON-HO (author) / JIANG WENTAO (author) / LIU KAIHUA (author)

    Publication date :

    2024-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



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