The embodiment of the invention relates to a vehicle automatic driving control method and system with self-adaptive stability. The method comprises the following steps: constructing a path tracking model, a yaw motion model and a tire model, applying an NMPC technology to a path tracking problem, and establishing an NMPC control problem by taking a vehicle sideslip angle, a yaw velocity, a steering angle, a transverse position error and Lyapunov stability as constraint conditions. And processing inequality constraints by adopting a C/GMRES algorithm in combination with a dead zone penalty function and keeping the smoothness of a solution. The variable prediction duration is adopted, so that a better initial solution is quickly obtained through a numerical algorithm. According to the invention, path tracking precision and vehicle motion stability can be optimized at the same time; multiple constraint conditions of a sideslip angle, a yaw velocity, a steering angle, a transverse position error and Lyapunov stability are introduced, and stable operation of the vehicle under various working conditions is comprehensively guaranteed; and a variable prediction duration method is adopted, so that a good initial solution can be quickly obtained, and the optimization convergence speed is improved.
本公开实施例是关于一种具有自适应稳定的车辆自动驾驶控制方法及系统。该方法包括:构建路径跟踪模型、偏航运动模型和轮胎模型,将NMPC技术应用于路径跟踪问题,以车辆侧滑角、横摆角速度、转向角、横向位置误差和Lyapunov稳定性为约束条件,建立了NMPC控制问题。采用C/GMRES算法并结合死区惩罚函数处理不等式约束并保持解的光滑性。采用可变预测持续时间,从而通过数值算法快速获得较好的初始解。本申请能够同时优化路径跟踪精度和车辆运动稳定性;引入侧滑角、横摆角速度、转向角、横向位置误差以及Lyapunov稳定性多重约束条件,全面保证车辆在各种工况下的稳定运行;采用可变预测持续时间方法,能够快速获得良好的初始解,提高了优化收敛速度。
Vehicle automatic driving control method and system with self-adaptive stability
一种具有自适应稳定的车辆自动驾驶控制方法及系统
2024-09-03
Patent
Electronic Resource
Chinese
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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