A method of intelligent vehicle lateral control based on fuzzy sliding mode

Abstract

The invention discloses a transversal smart car control method based on a vague sliding mode. The method comprises the following steps of smart car transversal sliding mode control design and vague sliding mode control design. Firstly, a transversal deviation yL and a bearing deviation epsilon L are fused to form an integrated deviation eL, and a sliding mode switching function s is designed through the eL; secondly, the s and the differential of the s are selected as input variables of vague sliding mode control, and a front wheel rotating angle delta fc serves as an output variable; thirdly, a vague sliding mode control method is designed. Vague sliding control and sliding mode control are combined, and therefore the transversal smart car control method based on the vague sliding mode is different from a conventional vague control method; because the input variables of the vague control are the sliding mode switching function and the differential of the sliding mode switching function, the buffeting phenomenon easily generated by sliding control is avoided, and the advantages of vague control which is independent of a precise system mode are increased, nonlinear characteristics, parameter uncertainty and external interference of an automobile can be effectively avoided, and precision, reliability and stability of a controller are improved.

Description

technical field [0001] The invention belongs to the technical field of vehicle control, and relates to a method for controlling lateral motion of an intelligent vehicle, in particular to a method for controlling lateral motion of an intelligent vehicle based on a fuzzy sliding model. Background technique [0002] The lateral control technology of smart cars is a technology that has attracted much attention in the field of vehicle control technology. Its main research direction is how to control the front wheel angle of smart cars so that they can track the specified path and ensure the safety and stability of driving. Sex is a decisive factor affecting the quality of autonomous navigation of smart cars. The lateral dynamics model constructed based on the dynamics of the smart car and its vehicle parameters has highly nonlinear dynamic characteristics and parameter uncertainties, and it needs to face various road disturbances during driving. The vehicle lateral controller de...

AI Technical Summary

Problems solved by technology

The vehicle lateral controller designed based on the sliding mode control method is completely robust to model parameter uncertainties and external disturbances, and the response time is short, but severe chattering will occur due to high-frequency conversion control near the sliding surface

The vehicle lateral controller designed based on the fuzzy control method generally takes the path deviation information and its derivative as the control input variable, does not need an accurate mathematical model, and is relatively robust to parameter changes and external disturbances, but the response takes a long time and is easy to control. error

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