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A smart vehicle trajectory tracking controller based on robust model predictive control and its construction method

A technology of model predictive control and predictive controller, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the controlled object of the dynamic model does not match, the robustness cannot be guaranteed, and the slope of the road surface is not good. Problems such as flatness interference, to achieve the effect of simplifying the tire dynamics model, improving the calculation speed, and ensuring real-time performance

Active Publication Date: 2022-05-20
JIANGSU UNIV
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Problems solved by technology

[0002] A smart car is a very complex nonlinear system. In the industrial application of trajectory tracking, its dynamic model is often simplified. In this process, some unmodeled dynamics are often ignored, so that its dynamic model is not consistent with the actual controlled object. Secondly, during the operation of the smart car, it often causes interference due to wind resistance, road slope and road unevenness.
Existing control methods with better performance, such as model predictive control, is a model-based controller, and its control accuracy often depends on the matching degree between the mathematical model of the controlled object and the actual situation. Stickiness cannot be guaranteed

Method used

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  • A smart vehicle trajectory tracking controller based on robust model predictive control and its construction method
  • A smart vehicle trajectory tracking controller based on robust model predictive control and its construction method
  • A smart vehicle trajectory tracking controller based on robust model predictive control and its construction method

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Embodiment Construction

[0016] The present invention is further described below in conjunction with the accompanying drawings.

[0017] as Figure 1 As shown, the intelligent car dynamics are simplified, and the path tracking error model is established in both directions and the horizontal and horizontal directions:

[0018]

[0019] thereinto is the state variable, δ is the front wheel angle,

[0020]

[0021]

[0022] Where m is the vehicle mass, I z The moment of inertia of the vehicle around the Z axis, C f ,C r Side deviation stiffness of the front and rear wheels, respectively, l f ,l r The distance from the center of mass of the vehicle to the front and rear axles, respectively, V x is longitudinal velocity, e y is the lateral deviation of the car's current position from the centerline of the lane, e ψ For the deviation of the current heading angle of the vehicle from the direction angle of the lane centerline, the δ is the control quantity front wheel angle, and the ψ des for the desired hea...

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Abstract

The invention discloses an intelligent vehicle trajectory tracking controller based on robust model predictive control and its construction method. On the basis of intelligent perception of the vehicle's external environment and its own parameters, the path tracking errors in the lateral and yaw directions are firstly established. Model, and on this basis, considering the unmodeled dynamics and external interference caused by wind resistance, road slope and road unevenness, the nominal system constraints are established. Based on this mathematical model, the controller is designed. The controller is composed of two parts. One part is to design a model predictive controller with the nominal system as the controlled object; the other part is additional feedback control, which is used to reduce the difference between the actual system and the nominal system. The deviation between them, the additional feedback control rate adopts the sliding mode control method, through the combination of the two parts of the control rate, it can effectively reduce the interference of external factors while ensuring path tracking, and improve the robustness of the controller.

Description

Technical field [0001] The present invention relates to a field of intelligent car control, in particular to an intelligent car trajectory tracking controller based on robust model predictive control and a construction method thereof. Background [0002] Intelligent car is an extremely complex non-linear system, trajectory tracking industrial applications are often its dynamic model simplified, this process often ignores some unmodeled dynamics, so that its dynamic model and the actual controlled object does not match, secondly, in the operation of smart cars, often because of wind resistance, road slope and road unevenness caused by interference. Existing control methods with better performance such as model predictive control is a model-based controller, and its control accuracy often depends on the mathematical model of the controlled object and the actual degree of matching, so the robustness in the case of receiving external interference cannot be guaranteed. Contents of th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 陈龙邹凯蔡英凤滕成龙孙晓强王海
Owner JIANGSU UNIV
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