The invention discloses a mechanism analysis-data driven vehicle dynamics series hybrid model, an intelligent vehicle trajectory tracking control method and a controller, and provides the mechanism analysis-data driven vehicle dynamics series hybrid model which has the advantages of good system mechanics background and physical significance of a mechanism model. The method has the advantages that the data-driven model does not need any priori knowledge and only depends on sample data, and advantage complementation between the models is achieved through fusion of the data-driven model and the sample data. The model can supplement part of unmodeled dynamics in a computer mechanical model and improve the global calculation precision of the model, has the capability of implicitly understanding different road adhesion conditions, and lays a good model foundation for the design of an intelligent automobile motion control algorithm. An accurate vehicle dynamics model is introduced into the control method and serves as a prediction model, the prediction capacity of future state output of the vehicle is effectively improved, nonlinear constraint conditions are added, and the control precision, stability and reliability are improved.
本发明公开了一种机理分析‑数据驱动的车辆动力学串联混合模型、智能汽车轨迹跟踪控制方法及控制器,提出一种机理分析‑数据驱动的车辆动力学串联混合模型,该模型不仅具有机理模型良好的系统力学背景及物理意义的优点,而且具有数据驱动模型无需任何的先验知识、仅依赖样本数据的优点,两者融合实现模型间优势互补。该模型可以补充计算机理模型中的部分未建模动态并提高模型全局计算精度,具有隐式理解不同路面附着条件的能力,为智能汽车运动控制算法设计奠定良好的模型基础。在控制方法中引入准确的车辆动力学模型,将其作为预测模型,有效提高对车辆未来状态输出的预测能力,增加非线性约束条件,提高控制精度、稳定性及可靠性。
Mechanism analysis-data driven vehicle dynamics series hybrid model, intelligent vehicle trajectory tracking control method and controller
一种机理分析-数据驱动的车辆动力学串联混合模型、智能汽车轨迹跟踪控制方法及控制器
01.07.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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