The invention relates to the technical field of vehicle control, in particular to an adaptive cruise control method based on neural network approximation, which comprises the following steps: establishing a nonlinear dynamic model of a vehicle, and describing nonlinear resistance of the vehicle; measuring a vehicle distance, and defining a distance tracking error; constructing a virtual controller to obtain a vehicle speed required for realizing distance control; calculating a neural network parameter adaptive law, and controlling a system to tend to design a hyperplane where a controller is located; and calculating a real design controller for controlling the vehicle to control the running of the vehicle, updating the vehicle information in the running process, and repeating the steps. According to the adaptive cruise control method based on neural network approximation, the output of the controller is adjusted on line in real time, and high robust performance is achieved. And based on the state information of the vehicle, the uncertain driving resistance of the vehicle is learned on line by using a neural network, and the initial error is compensated and corrected, so that the self-adaptive cruise control of the vehicle in any initial state (initial position) is realized.
本申请涉及车辆控制技术领域,尤其涉及一种基于神经网络逼近的自适应巡航控制方法,包括,建立车辆的非线性动力学模型,并对车辆的非线性阻力进行描述;测量车辆间距,定义间距跟踪误差;构建虚拟控制器,以获得实现距离控制所需的车辆速度;计算神经网络参数自适应律,控制系统趋向于设计控制器所在的超平面;计算真实的控制车辆的设计控制器以控制车辆行驶,并在行驶过程中更新车辆信息,并重复上述步骤。本专利基于神经网络逼近的自适应巡航控制在线实时调整控制器输出,实现较强的鲁棒性能。基于车辆的状态信息,并用神经网络在线学习车辆的不确定行驶阻力,对初始误差补偿校正,实现任意初始状态(初始位置)下的车辆自适应巡航控制。
Adaptive cruise control method based on neural network approximation
基于神经网络逼近的自适应巡航控制方法
2024-12-10
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 |
Adaptive cruise control method and device based on RBF neural network
European Patent Office | 2024
|Springer Verlag | 2014
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