The invention discloses a vehicle longitudinal model predictive control method fusing a long short-term memory network and a Kalman filter. The method comprises the following steps: establishing a vehicle longitudinal dynamic model considering the speed change of a front vehicle as a predictive model of an MPC control framework; using an LTSM model to predict the acceleration value of the front vehicle at each moment according to the historical acceleration of the front vehicle, substituting the acceleration value into an MPC control framework, and calculating to obtain a corresponding control quantity; if the front vehicle is an HDV, calculating a vehicle state estimation value at each moment, performing Kalman filtering processing, and substituting the vehicle state estimation value into an MPC control framework; if the front vehicle is the CAV, obtaining a vehicle state actual value in real time and substituting the vehicle state actual value into an MPC control framework; and longitudinally controlling the vehicle according to the control quantity of each control period. According to the method, the problems that the control performance of the intelligent networked automobile is reduced and the stability becomes poor under the condition that the environment and the model parameters are uncertain are solved, and the running efficiency of the automobile is improved while safety and comfort are guaranteed.

    本发明公开了一种融合长短期记忆网络和卡尔曼滤波器的车辆纵向模型预测控制方法,步骤包括:建立考虑前车速度变化的车辆纵向动力学模型作为MPC控制框架的预测模型;使用LTSM模型根据前车历史加速度预测得到前车每个时刻的加速度值并代入MPC控制框架中,计算得到对应的控制量;若前车为HDV,计算每个时刻的车辆状态估计值并进行卡尔曼滤波处理后代入MPC控制框架中;若前车为CAV,则实时获取车辆状态实际值后代入MPC控制框架中;根据每个控制周期的控制量对车辆进行纵向控制。本发明解决了智能网联汽车在环境和模型参数存在不确定性情况下的控制性能下降和稳定性变差问题,在保证安全、舒适的同时提高了车辆运行效率。


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    Title :

    Vehicle longitudinal model predictive control method fusing long short-term memory network and Kalman filter


    Additional title:

    一种融合长短期记忆网络和卡尔曼滤波器的车辆纵向模型预测控制方法


    Contributors:
    GAO ZHIBO (author) / LI YUNBO (author) / LONG KEJUN (author) / XING LU (author) / TANI TAKESHI (author) / WEI JUNJUN (author) / HE SHIJIAN (author)

    Publication date :

    2025-01-10


    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 / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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