The invention relates to an automatic driving automobile collision avoidance method based on fuzzy model predictive control, and belongs to the technical field of collision avoidance of automatic driving automobiles. Comprising the following steps: constructing a transverse dynamic model of the autonomous vehicle; designing a fuzzy rule according to the T-S fuzzy logic, converting the transverse dynamic model into a fuzzy dynamic model based on the fuzzy rule, and discretizing the fuzzy dynamic model; designing collision avoidance constraints of the fuzzy dynamic model based on the control quantity and the motion state; and constructing a fuzzy model prediction controller based on the discretized fuzzy dynamic model and the collision avoidance constraint, performing optimization solution on the fuzzy model prediction controller to obtain a control quantity, and controlling the automatic driving vehicle to perform collision avoidance based on the control quantity.
本发明涉及一种基于模糊模型预测控制的自动驾驶汽车避碰方法,自动驾驶汽车的避碰技术领域。包括:构建自动驾驶车辆的横向动力学模型;根据T‑S模糊逻辑设计模糊规则,基于模糊规则将横向动力学模型转化为模糊动力学模型并离散化;基于控制量和运动状态设计模糊动力学模型的避碰约束;基于离散化的模糊动力学模型和避碰约束构建模糊模型预测控制器,对模糊模型预测控制器进行优化求解得到控制量,基于控制量控制自动驾驶车辆进行避碰。
Automatic driving automobile collision avoidance method based on fuzzy model predictive control
基于模糊模型预测控制的自动驾驶汽车避碰方法
2025-02-25
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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