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And inputting saturated automatic driving automovable path tracking control method

A path tracking and automatic driving technology, applied in the field of vehicle tracking control with saturated input, which can solve problems such as reduced controller performance and closed-loop system instability.

Active Publication Date: 2020-05-19
SHANDONG COMP SCI CENTNAT SUPERCOMP CENT IN JINAN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the system enters a saturated state, the output of the controller and the input of the controlled object will no longer match, which will greatly reduce the performance of the controller, and even cause the closed-loop system to be unstable
Therefore, how to achieve path-following control of autonomous vehicles in the presence of network delays and actuator saturation remains a challenging problem in both industry and academia.

Method used

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  • And inputting saturated automatic driving automovable path tracking control method
  • And inputting saturated automatic driving automovable path tracking control method
  • And inputting saturated automatic driving automovable path tracking control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0134] Preferably, in step a) by formula F yf = 2C f alpha f ,F yr =-2C r alpha r Calculate the lateral force F of the front tire of the vehicle yf and the lateral force F of the rear tire of the vehicle yr , where C f is the cornering stiffness of the front wheel, C r is the cornering stiffness of the rear wheel, α f is the side slip angle of the front wheel, α r is the slip angle of the rear wheel, where

Embodiment 2

[0136] Curvature ρ in step b) ref Obtained through a combined GPS and GIS system.

Embodiment 3

[0138] In order to solve the problem of network delay and input saturation in path following control of autonomous vehicles, a robust H ∞ State feedback controller and static output feedback controller, so that the closed-loop system is asymptotically stable when d(t)=0, satisfying the given H ∞ Disturbance suppression performance index, and the control gain matrix can be obtained by solving the corresponding linear matrix inequality, which is easy to calculate. Therefore after step g), the following steps are performed:

[0139] h2) due to the vehicle lateral velocity v y It is difficult to obtain through low-cost sensor measurement, so in order to reduce the cost of the control system, we choose the output vector y=C 2 x=[γ,φ e ,y e ] T , a static output feedback path tracking controller is designed to solve the positive definite matrix X satisfying the linear matrix inequality as shown in formula (16). N >0,X G >0, general matrix i=1,2,3, and number ∈>0;

[0140...

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Abstract

The invention relates to an input saturation automatic driving vehicle path tracking control method, which solves the problems of network time delay and input saturation of automatic driving vehicle path tracking control by designing a robust H-infinity path tracking controller, and improves the path tracking performance of a vehicle under extreme driving conditions. By adjusting the lateral speedand the yaw velocity of the vehicle, the operation stability of the vehicle is improved while automatic driving vehicle path tracking control is achieved. The robust H-infinity path tracking controlgain matrix of the autonomous vehicle can be obtained by solving a linear matrix inequality, and the calculation is simple and convenient. According to the path tracking control design, the uncertainty of a vehicle dynamic model and the influence of external disturbance are comprehensively considered, and the robustness of a path tracking control algorithm is improved. By designing the static output feedback controller, the cost of the control system is greatly reduced while ideal path tracking control is realized.

Description

technical field [0001] The invention relates to the technical field of automatic driving vehicles, in particular to an input saturated vehicle tracking control method. Background technique [0002] With the rapid development of a new generation of information technology and the improvement of people's requirements for vehicle safety and comfort, the path tracking control of autonomous vehicles has become a new research hotspot in recent years, and is widely used in mobile robots and automatic parking systems. Self-driving cars will help reduce the labor intensity of drivers, improve vehicle safety, reduce road traffic accidents, and improve road traffic efficiency. According to automotive industry statistics, driven by goals such as reducing road congestion and traffic accidents, most cars in the future will have driverless functions and are expected to dominate road traffic. For self-driving cars, one of the basic problems to be solved first is to realize the path tracking...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223B60W30/10B60W30/18145B60W50/06B60W2050/0031B60W2050/0035B60W2520/10B60W2520/14B60W2530/20B60W60/001
Inventor 陈长芳舒明雷刘瑞霞杨媛媛魏诺许继勇
Owner SHANDONG COMP SCI CENTNAT SUPERCOMP CENT IN JINAN
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