The invention discloses an adaptive cruise cooperative control method considering transverse stability. The adaptive cruise cooperative control method mainly comprises the following steps that 1, a vehicle adaptive cruise and transverse stability cooperative control model is established; 2, designing a T-S fuzzy system based on the vehicle adaptive cruise and transverse stability cooperative control model; and 3, deducing an LMI inequality of the T-S fuzzy system by using a robust control theory, and finally obtaining the optimal control input of the system. The method mainly has the following three innovation points that (1) a self-adaptive cruise input penalty factor is designed, and the transverse stability of the vehicle is improved by restraining a self-adaptive cruise decision; (2) designing a T-S fuzzy system by taking the input penalty factor, the time headway and the longitudinal speed of the vehicle as prerequisite variables, and improving the influence of nonlinear variation of variable parameters of the model on the performance of the T-S fuzzy system; and (3) the control rate is solved by using a robust control theory, and the robustness of the T-S fuzzy system to external disturbance is improved.

    本发明公开了一种考虑横向稳定性的自适应巡航协同控制方法,其主要包含以下步骤:步骤一:建立车辆自适应巡航与横向稳定性协同控制模型;步骤二:基于车辆自适应巡航与横向稳定性协同控制模型设计T‑S模糊系统;步骤三:利用鲁棒控制理论推导T‑S模糊系统的LMI不等式,最终得到系统的最优控制输入。本发明主要有以下三个创新点:(1)设计了自适应巡航输入惩罚因子,通过对自适应巡航决策的抑制改善车辆的横向稳定性;(2)将输入惩罚因子、车头时距和自车纵向车速作为前提变量设计了T‑S模糊系统,改善了模型可变参数的非线性变化对T‑S模糊系统性能的影响;(3)利用鲁棒控制理论求解控制率,提高了T‑S模糊系统对外部扰动的鲁棒性。


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    Title :

    Self-adaptive cruise cooperative control method considering transverse stability


    Additional title:

    一种考虑横向稳定性的自适应巡航协同控制方法


    Contributors:
    ZHENG HONGYU (author) / YAN YANG (author) / XIN YAFEI (author) / JIN LIQIANG (author) / LI JIANHUA (author) / XIAO FENG (author) / ZHANG XU (author)

    Publication date :

    2024-01-05


    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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