The invention discloses a parking trajectory tracking control method based on model predictive control and PID (Proportion Integration Differentiation) control, which comprises the following steps that: a microcontroller calculates a required front wheel turning angle and a required vehicle speed and then transmits the front wheel turning angle and the required vehicle speed to a vehicle control unit, and the vehicle control unit determines a steering wheel turning angle according to the front wheel turning angle, determines an accelerator opening degree and brake pressure according to the vehicle speed, and controls the vehicle speed according to the accelerator opening degree; an executing mechanism of the vehicle is controlled according to the steering wheel angle, the accelerator opening degree and the brake pressure, the microcontroller is a controller based on a model prediction control algorithm, and the model prediction control algorithm comprises the steps that a prediction model is established; the optimal solution of the system is solved according to the objective function with the constraint condition, and an optimal control sequence in the prediction time domain is obtained; and then acting the first element of the control sequence on the controlled object. According to the invention, a model predictive control algorithm is adopted to carry out transverse control on the trolley, and meanwhile, a PID algorithm is adopted to control the longitudinal speed of parking, so that the comfort and stability of automatic parking are improved.
本发明公开了一种基于模型预测控制和PID控制的泊车轨迹跟踪控制方法,所述控制方法为:微控制器计算所需的前轮转角和车速,随后将其传输给整车控制器,整车控制器根据前轮转角来确定方向盘转角,根据车速确定油门开度、制动压力,根据方向盘转角、油门开度、制动压力控制车辆的执行机构,所述微控制器为基于模型预测控制算法的控制器,所述模型预测控制算法包括:建立预测模型;根据带有约束条件的目标函数求解系统的最优解,得到预测时域内的最优控制序列;然后将控制序列的第一个元素作用于被控对象。本发明采用模型预测控制算法对小车进行横向控制,同时用PID算法对泊车的纵向速度进行控制,提高了自动泊车的舒适性和平稳性。
Parking trajectory tracking control method based on model predictive control and PID control
基于模型预测控制和PID控制的泊车轨迹跟踪控制方法
2024-11-12
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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