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Intelligent automobile multi-prediction-range model prediction trajectory tracking control method and system

A model prediction and smart car technology, applied in control/adjustment system, vehicle position/route/height control, control device, etc., can solve problems such as vehicle control requirements and control functions, and improve accuracy and stability Effect

Active Publication Date: 2019-12-06
JIANGSU UNIV
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AI Technical Summary

Problems solved by technology

The traditional single prediction range algorithm cannot solve the control requirements and control functions of vehicles under different emergency events

Method used

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  • Intelligent automobile multi-prediction-range model prediction trajectory tracking control method and system

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with accompanying drawing.

[0014] Such as figure 1 Shown, the composition of the system of the present invention comprises as follows:

[0015] perception module

[0016] Real-time collection of road information ahead of the smart car, yaw rate γ, vehicle speed V x , and the center of mass sideslip angle β. Combined with V2X short-distance perception technology, the traffic road information such as ice and snow weather, roadside pedestrians or sudden stop of the vehicle in front is collected in real time and transmitted to the control module for the controller to pre-judge and call; the cooperation relationship with other modules is as follows: Figure 4 shown.

[0017] path planning module

[0018] Plan an expected path based on the data transmitted by the perception module, this planning path does not include the calculation of complex working conditions;

[0019] Dynamic Modeling Module

[...

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Abstract

The invention discloses an intelligent automobile multi-prediction-range model prediction trajectory tracking control method and system. The method includes the steps of information sensing, route planning, multi-prediction-range model prediction controller modeling and drive executing. An environment sensing module acquires front road information and the state of an intelligent automobile in realtime, collects dependent events in real time and transmits the dependent events to a multi-prediction-range model prediction controller for calling. A route planning module plans an expected path according to the data of the information sensing module. The multi-prediction-range model prediction controller can achieve prediction control under emergency events. A drive executing module drives an executing mechanism of the controlled automobile according to the front wheel corner value output by the multi-prediction-range model prediction controller. By calling prediction time domains corresponding to possible events and corresponding constraint sets and cost functions of the multi-prediction-range model prediction controller, the unmanned automobile changes tracking routes in advance to avoid emergencies, and therefore the stability of automobile driving is improved.

Description

technical field [0001] The invention belongs to the field of smart car control, and in particular relates to a control method for a smart car under predicted emergency events. Background technique [0002] Intelligent driving, as the core technology of automotive technological transformation, is being carried out in depth on a global scale. Most of the existing model predictive control focuses on improving the accuracy of path tracking, but when driving on real road conditions, it often responds when an emergency occurs, making it impossible for unmanned vehicles to accurately track the desired path. Because the longitudinal force of the wheel tends to be saturated under high-speed driving conditions, and the tires cannot provide more lateral force when turning in the event of an emergency, so the vehicle is prone to instability in response to an emergency. [0003] The combination of environmental perception and V2X technology enables wireless communication between the car...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W50/00G05D1/02
CPCB60W50/0097B60W2050/0075B60W2556/45G05D1/0212Y02T10/84
Inventor 解云鹏蔡英凤陈龙孙晓强李祎承施德华
Owner JIANGSU UNIV
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