Intelligent vehicle model prediction steering controller based on model reconstruction and control method thereof

Abstract

The invention discloses an intelligent vehicle model prediction steering controller based on model reconstruction and a control method thereof. On the basis of intelligently sensing the environment outside a vehicle and parameters of the vehicle, a right inverted model of an existing model is established first and is placed on the right side of the existing model, an intelligent vehicle steering model is reconstructed, a left inverted model of the existing model is established then and is used for observing the yaw velocity parameter, then the model prediction steering controller is designed according to the reconstructed new model and the observed yaw velocity parameter, the intelligent vehicle model prediction steering control based on the model reconstruction is realized, and the intelligent vehicle steering control performance and the intelligent level are improved. By comprehensively using the inverted models and the model prediction control method, data is observed through the reconstructed new model and the left inverted model, the model prediction controller is reasonably designed, the purpose is definite, the method is simple, the yaw velocity response data can be conveniently observed, multiple interference factors are restrained, unmodeled dynamics is overcome, and the high-performance control effect is obtained.

Description

Technical field [0001] The invention relates to the field of intelligent automobile steering control, in particular to an intelligent automobile model predictive steering controller based on model reconstruction and a control method thereof. Background technique [0002] Smart cars are high-tech products based on environmental perception technology, computer technology, information technology and intelligent control technology. The transformation and upgrading of the automotive industry in the context of a new round of technological changes will be a process of gradual realization of intelligent automotive products. As a carrier for the application of multiple new technologies in the future, smart cars will provide new possibilities for the automotive industry to effectively solve safety, energy and environmental issues: including accident avoidance, fuel consumption and emission control optimization under intelligent vehicle operation, and smart transportation mode Energy saving...

AI Technical Summary

Problems solved by technology

[0003] The dynamic model of the car is a nonlinear, strongly coupled multivariable time-varying system. The steering control of the smart car is a nonlinear control problem with strong coupling, multiple disturbances, and unmodeled dynamics. It has a very important role in the overall control process of the smart car. The traditional control algorithm has not been well coordinated to solve the problem of parameter nonlinearity and time-varying characteristics in the steering control process. The control parameters that work well at low and medium vehicle speeds often have poor control effects at high vehicle speeds. Control parameters suitable for serpentine paths may not be suitable for double shifting paths

At the same time, because of the strong coupling characteristics between state variables, it is often difficult to balance the quick response of smart cars with safety, comfort and other indicators.

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