Intelligent vehicle path tracking control system and method based on Gray Wolf Optimizer (GWO)

Abstract

The invention provides an intelligent vehicle path tracking control system and method based on a Gray Wolf Optimizer (GWO). The intelligent vehicle path tracking control system includes a path planning system, a path tracking decision system and a vehicle chassis execution system which are connected in sequence, wherein the path tracking decision system includes two subsystems of a driver prediction controller and a GWO attitude controller, a preview-follower driver model based on the vehicle side acceleration feedback correction is adopted in the prediction controller, and the GWO is adoptedin the GWO attitude controller. According to the intelligent vehicle path tracking control system and method, an ideal path is planned by the path planning system, the path tracking decision system receives the ideal path information, the driving state of a vehicle is adjusted through a wire-controlled steering actuator and a hub motor brake actuator of the vehicle chassis execution system, the accurate tracking of the ideal path is realized, and the driving stability of the vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle path tracking, in particular to an intelligent vehicle path tracking control system and method based on gray wolf algorithm. Background technique [0002] With the advancement of the times and the development of technology, the process of "four modernizations" (electricity, intelligence, networking, and sharing) of automobiles is gradually accelerating. Automobiles with L1 (driving support) and L2 (partial automation) level automatic driving functions Has been listed in succession. In the process of realizing autonomous driving, human-machine co-driving is a very important development stage. In the whole driving process, the driver's human factors account for a large proportion. Once the driver drives for a long time, fatigues and makes mistakes in judgment, it is easy to cause traffic accidents. The usual path-following control method only focuses on the trajectory control of the ca...

AI Technical Summary

Problems solved by technology

In the whole driving process, the human factor of the driver accounts for a large proportion. Once the driver drives for a long time, fatigues and makes mistakes in judgment, it is easy to cause traffic accidents.

The usual path-following control method only focuses on the trajectory control of the car, ignoring the influence of the driver's manipulation behavior on the car's driving conditions; and, the usual path-following control method only takes the lateral displacement of the car's center of mass as the control object , does not consider the influence of vehicle heading angle and other driving attitude on the path tracking accuracy

Images