A robust control method for sensor gain uncertainty of vehicle variable speed cruise system

A technology of cruise system and robust control, applied in control devices, vehicle components, input parameters of external conditions, etc., can solve the problem of difficulty in ensuring the measurement accuracy of on-board sensors, and achieve easy understanding, strong practicability, and simple adjustment design. Effect

Active Publication Date: 2020-10-30
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] In order to solve the problem that it is difficult to guarantee the measurement accuracy of the vehicle-mounted sensors objectively existing in the existing vehicle speed-changing cruise process, the present invention provides a robust control method for sensor gain uncertainty of the vehicle speed-change cruise system that is intuitive to understand, simple in design, and easy to implement

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  • A robust control method for sensor gain uncertainty of vehicle variable speed cruise system
  • A robust control method for sensor gain uncertainty of vehicle variable speed cruise system
  • A robust control method for sensor gain uncertainty of vehicle variable speed cruise system

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[0028] The method of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0029] Reference Figure 1 ~ Figure 4 , A robust control method for sensor gain uncertainty of a vehicle variable speed cruise system, the control method includes the following steps:

[0030] 1). Establish a three-order continuous-time dynamic mathematical model of the vehicle's variable-speed cruise system, see formula (1):

[0031]

[0032] Among them, the subscript 1 represents the own vehicle, and the subscript 0 represents the preceding vehicle; the variable t represents the time; the variable δ 1 (t), Δv 1 (t) and a 1 (t) respectively represent the distance error between the preceding vehicle and the vehicle at time t, the relative speed and the acceleration of the vehicle; u 1 (t) represents the vehicle's adaptive cruise system safe inter-vehicle distance control amount of the vehicle at time t; parameter h 1 with Respectively time interval an...

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Abstract

A sensor gain uncertain robust control method for a vehicle variable-speed cruise system comprises, in view of a control requirement for continuously improving a safe inter-vehicle distance real-timeperformance and stability in the field of vehicle variable-speed cruise control, establishing a third-order continuous time state space model of the vehicle variable-speed cruise system; then, in consideration of the onboard sensor gain uncertainty, designing a vehicle variable-speed cruise system sensor gain uncertain robust controller so as to calculate the safe inter-vehicle distance control amount of the vehicle variable-speed cruise system in real time and realize the vehicle variable-speed cruise control under a onboard sensor gain uncertain condition. The sensor gain uncertain robust control method for the vehicle variable-speed cruise system is easy to understand, simple in design and easy to implement.

Description

Technical field [0001] The invention belongs to the field of automatic control of vehicle cruise systems, and relates to a robust control method for sensor gains of a vehicle variable speed cruise system. Background technique [0002] Vehicle adaptive cruise control (ACC) is a control technology that obtains vehicle status information and surrounding vehicle environment information through on-board sensing systems, and applies acceleration optimization algorithms to control and adjust vehicle acceleration, thereby maintaining a stable and safe distance between the vehicle ahead. Vehicle adaptive cruise control not only effectively reduces the operating burden of the driver during driving, improves the safety and comfort of driving, but also makes the fuel supply and engine power of the car reach the best state, thus effectively Therefore, the research on vehicle adaptive cruise control system has always been a hot spot in the field of vehicle automatic control and intelligence. ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/16
CPCB60W30/14B60W50/00B60W2050/0031B60W2520/105B60W2554/80B60W2554/801
Inventor 宋秀兰陈丽张昱何德峰孟利民余世明
Owner ZHEJIANG UNIV OF TECH
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