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Intelligent vehicle path tracking method based on maximum correlation entropy criterion

A technology of maximum correlation entropy and path tracking, applied to instruments, adaptive control, combustion engines, etc., can solve problems such as sensor error disturbance, GPS drift, etc., and achieve the effect of improving robustness

Active Publication Date: 2020-06-09
CHENGDU UNIV OF INFORMATION TECH
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  • Claims
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Problems solved by technology

[0006] In view of the above-mentioned deficiencies in the prior art, the intelligent vehicle path tracking method based on the maximum correlation entropy criterion provided by the present invention solves the problems of GPS drift and sensor error disturbance in vehicle positioning

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  • Intelligent vehicle path tracking method based on maximum correlation entropy criterion
  • Intelligent vehicle path tracking method based on maximum correlation entropy criterion
  • Intelligent vehicle path tracking method based on maximum correlation entropy criterion

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Embodiment Construction

[0036]The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0037] refer to figure 1 , figure 1 Shows the flow chart of the intelligent vehicle path tracking method based on the maximum correlation entropy criterion; as figure 1 As shown, the method S includes steps S1 to S5.

[0038] In step S1, a vehicle dynamics model is constructed:

[0039]

[0040] in, is the velocity in the x direction; is the velocity in the y direction; is the heading angular velocity; ψ is the h...

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Abstract

The invention discloses an intelligent vehicle path tracking method based on a maximum correlation entropy criterion, and belongs to the field of trajectory tracking. The method comprises the following steps: constructing a vehicle dynamics model; converting the vehicle dynamics model into a system state model; performing discrete linearization processing on the system state model to construct anoutput model for forming a prediction time domain; constructing a path tracking model for solving the control increment delta uk based on a maximum correlation entropy criterion and a semi-square method; and solving the path tracking model to obtain a control increment based on the vehicle centroid speed v and the front wheel steering angle sigma f. According to the scheme, the path tracking modelis established by adopting the measurement of the maximum correlation entropy criterion, and the model can effectively suppress or eliminate the influence from noise or off-site points so as to realize stable path tracking of the vehicle.

Description

technical field [0001] The invention relates to a vehicle path tracking control method, in particular to an intelligent vehicle path tracking method based on the maximum correlation entropy criterion. Background technique [0002] At present, the main popular path tracking control algorithms are: PID control, linear quadratic regulator LQR tracking controller and pure tracking control. [0003] PID control is a control algorithm that is widely used in the field of industrial control. This method has the advantage of not needing to build a model, but its control parameters need to be figured out through repeated experiments. This is a boring, tedious and time-consuming task. When the vehicle speed changes, the current control parameters are not suitable for controlling the vehicle speed, and the control parameters need to be tried again. Therefore, although PID is simple, it has very poor adaptability to vehicle speed, and other vehicle parameters or road environment paramet...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 周楠杜元花秦豪郭超蒋涛李平蒲红平付克昌刘甲甲袁建英
Owner CHENGDU UNIV OF INFORMATION TECH
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