Pilotless automobile longitudinal control method

A technology of unmanned vehicles and longitudinal control, applied to control devices, internal combustion piston engines, mechanical equipment, etc., can solve problems such as lack of theoretical support, MPC lost initial moment, MPC iterative feasibility and stability analysis, etc., to achieve stable The effect of small state error and short adjustment time

Active Publication Date: 2021-03-12
TIANJIN UNIV
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AI Technical Summary

Problems solved by technology

Although the research on MPC in recent years has a large number of experimental verifications, the analysis of the iterative feasibility and stability of MPC is not reflected in these works, resulting in the lack of theoretical support for these results
In addition, in actual control, unreliable reference signals may cause MPC to lose the feasible solution at the initial moment when the terminal constraints are relatively conservative. This situation cannot be solved by tuning the MPC parameters

Method used

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  • Pilotless automobile longitudinal control method
  • Pilotless automobile longitudinal control method
  • Pilotless automobile longitudinal control method

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Embodiment Construction

[0047] The invention provides a longitudinal control method of an unmanned vehicle, the control method combines MPC and linear TD, and considers the influence of the control amount and the control amount increment constraint. At the same time, the design process of each part of the scheme is based on a complete theoretical analysis process to determine the parameter range to ensure the basic requirements of each part, including the convergence of linear TD, the iterative feasibility and stability of MPC.

[0048] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0049] Longitudinal control (closed loop) systems including sensors, actuators, controllers such as figure 1 As shown, its workflow will be described in detail after the design scheme. For such a vertical closed-loop s...

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Abstract

The invention provides a pilotless automobile longitudinal control method which comprises the following steps: S1, establishing a discrete kinematics model of an automobile longitudinal control system, and taking a state expected acceleration as an input control quantity of the discrete kinematics model of the longitudinal control system; S2, creating a linear TD, arranging a transition process ofa reference speed signal and a reference acceleration signal through the linear TD, and converting the stepped reference speed signal and reference acceleration signal into a continuous reference signal sequence; and S3, creating an MPC, connecting the MPC with the linear TD, obtaining an optimal control sequence through the discrete kinematics model based on a reference sequence number sequenceinput by the linear TD under the condition of existence of a control quantity constraint and a control quantity increment constraint, and finishing longitudinal control of the pilotless automobile. The method has the advantages of short adjustment time and small steady-state error.

Description

technical field [0001] The invention belongs to the field of unmanned driving control, and specifically relates to a longitudinal control method of an unmanned vehicle combined with a linear tracking differentiator and a model predictive control algorithm. Background technique [0002] In recent years, electric vehicles have been widely used in various scenarios, such as driverless cars, smart cities, etc. Compared with traditional internal combustion engine vehicles, electric vehicles have the advantages of high efficiency, energy saving, and environmental protection. From an ideal situation, electric vehicles will gradually replace traditional vehicles, which is conducive to the realization of zero vehicle exhaust emissions. Environmental perception, motion planning, and motion control are the three core technologies in unmanned driving technology. Among them, due to the influence of factors such as complex road conditions, diverse driving environments, and physical cons...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W50/00B60W30/02
CPCB60W50/00B60W30/025B60W2050/0021Y02T10/40
Inventor 王一晶曹世卓左志强
Owner TIANJIN UNIV
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