Model Predictive Steering Controller and Control Method for Intelligent Vehicle Based on Model Reconstruction

Abstract

The invention discloses an intelligent vehicle model predictive steering controller based on model reconstruction and its control method. On the basis of intelligent perception of the vehicle's external environment and its own parameters, the right inverse model of the original model is first established and placed on the left side of the original model. , reconstruct the steering model of the smart car, and then establish the left inverse model of the original model to observe the yaw rate parameters, and then design the model predictive steering controller according to the reconstructed new model and the yaw rate observation parameters to realize The smart car model predictive steering control based on model reconstruction improves the steering control performance and intelligence level of smart cars. The invention comprehensively uses the inverse model and the model predictive control method, uses the reconstructed new model and the observation data of the left inverse model, and reasonably designs the model predictive controller. Disturbing factors, overcoming unmodeled dynamics, and obtaining high-performance control effects.

Description

technical field [0001] The invention relates to the field of intelligent vehicle steering control, in particular to an intelligent vehicle 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. Under the background of a new round of technological change, the transformation and upgrading of the automobile industry will be a process of gradually realizing the intelligence of automobile products. As a carrier of multiple new technology applications 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 intelligent transportation mode. Conse...

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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