The invention discloses a man-machine sharing driving auxiliary steering method based on model predictive control, which comprises the following steps of A, acquiring vehicle driving scene data information through a vehicle-mounted radar, a camera and a positioning device, and then generating a local planning route, B, establishing a vehicle dynamics model and a kinematics model, C, linearizing and discretizing the vehicle model, d, predicting the model according to the prediction time domain and the control time domain, E, constructing a target function, substituting the matrix predicted by the model and the constraint condition into the target function, solving to obtain a steering control sequence, obtaining steering control under a suboptimal condition, acting on an auxiliary steeringmotor, and generating an auxiliary steering torque or a pre-steering torque, and F, enabling the driver to actively correct the steering torque according to the judgment of the driver on the driving state of the vehicle. According to the method, the defects in the prior art can be overcome, the optimal solution of the target function is obtained by reducing the prediction time domain and the control time domain, and the real-time requirement of solving is met.
本发明公开了一种基于模型预测控制的人机共享驾驶辅助转向方法,包括以下步骤:A、通过车载的雷达、摄像头和定位装置对车辆行驶场景数据信息进行获取,然后生成局部规划路线;B、建立车辆动力学模型和运动学模型;C、将车辆模型线性化和离散化;D、根据预测时域和控制时域,对模型进行预测;E、构造目标函数,将模型预测的矩阵和约束条件带入目标函数,求解得到转向控制序列,获得次优条件下的转向控制并作用于辅助转向电机,产生辅助转向力矩或预转向力矩;F、驾驶员根据自身对车辆行驶状态的判断,对转向力矩进行主动修正。本发明能够解决现有技术的不足,通过减少预测时域和控制时域,求得目标函数最优解,来满足求解的实时性要求。
Man-machine sharing driving auxiliary steering method based on model predictive control
一种基于模型预测控制的人机共享驾驶辅助转向方法
2020-09-29
Patent
Electronic Resource
Chinese
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