The invention provides an active steering control method for an unmanned vehicle, which is used for realizing transverse trajectory tracking control of the unmanned vehicle, and comprises the following steps of: designing a trajectory tracking controller on the basis of a model predictive control (MPC) theory according to a controlled variable of a front wheel steering angle of the vehicle and a control target that the transverse position deviation and the yaw angle deviation of the vehicle are 0; the control precision of a controller and the driving stability of the vehicle are considered, a gray wolf optimization (GWO)-back propagation (BP) neural network compensation controller is used for obtaining a compensation angle of a front wheel rotation angle, and the final input front wheel rotation angle of the unmanned vehicle is jointly formed by a front wheel rotation angle output by a trajectory tracking controller and the compensation angle output by a compensation controller. Through active steering control of the front wheels, trajectory tracking is achieved on the premise that the safety and comfort of the vehicle are guaranteed.
本发明提供一种无人驾驶车辆主动转向控制的方法,用于实现无人驾驶车辆的横向轨迹跟踪控制,包括:所述的方法被控量为车辆前轮转角,控制目标为车辆横向位置偏差及横摆角偏差为0,基于模型预测控制(MPC)理论,设计了轨迹跟踪控制器,考虑控制器的控制精度及车辆行驶稳定性,利用灰狼寻优(GWO)—反向传播(BP)神经网络补偿控制器获取前轮转角的补偿角,无人驾驶车辆最终输入前轮转角由轨迹跟踪控制器输出前轮转角和补偿控制器输出补偿角共同构成,通过前轮主动转向控制,在保证车辆安全性及舒适性的前提下实现轨迹跟踪。
Active steering control method for unmanned vehicle
一种无人驾驶车辆主动转向控制的方法
2024-10-01
Patent
Electronic Resource
Chinese
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