The invention discloses a method and a system for predicting and controlling curve lane keeping based on a self-adaptive model. The method comprises the following steps: firstly, determining a safe turning speed of a vehicle according to curve working condition information of vehicle driving; then matching optimal time domain parameters of the MPC controller under different road information by using a genetic algorithm; a neural network MPC controller is constructed, so that the vehicle turning safety speed and the time domain parameters of the MPC controller are adaptively adjusted according to the change of the curve working condition; and finally, according to the trained neural network, integrating a vehicle longitudinal controller and a vehicle transverse controller to control the keeping of a curve lane. According to the method, the problems of vehicle sideslip or rollover caused by high turning speed and poor lane keeping precision caused by fixed MPC time domain parameters are effectively solved, the accuracy of lane keeping at the curve of the unmanned vehicle is improved, the driving stability of the vehicle is guaranteed, and the method has practical significance in promoting rapid development of the unmanned driving technology.

    本发明公开了一种基于自适应模型预测控制弯道车道保持方法及系统,首先根据车辆行驶的弯道工况信息确定车辆过弯安全车速;然后利用遗传算法匹配不同道路信息下MPC控制器的最优时域参数;再构建神经网络MPC控制器,使车辆过弯安全车速与MPC控制器的时域参数根据弯道工况的改变进行自适应调整;最后根据训练后的神经网络,综合车辆纵向控制器和车辆横向控制器,实现控制弯道车道的保持。本发明有效解决了过弯车速较高导致的车辆侧滑或侧翻、固定MPC时域参数导致的车道保持精度较差的问题,提高了无人驾驶车辆弯道车道保持的精准性,保障了车辆行驶的稳定性,对推动无人驾驶技术的快速发展具有现实意义。


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    Title :

    Curve lane keeping method and system based on adaptive model prediction control


    Additional title:

    基于自适应模型预测控制弯道车道保持方法及系统


    Contributors:
    LI XUANPENG (author) / ZHANG WEN (author) / ZHANG WEIGONG (author)

    Publication date :

    2023-07-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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