4WID-4WIS automobile path tracking control method and system based on HJI theory
4WID-4WIS automobile path tracking control method and system based on HJI theory
- Neue Suche nach: LI DANYANG
- Neue Suche nach: ZHAO YOUQUN
- Neue Suche nach: SUN XINYU
- Neue Suche nach: YU ZHIHAO
- Neue Suche nach: LI DANYANG
- Neue Suche nach: ZHAO YOUQUN
- Neue Suche nach: SUN XINYU
- Neue Suche nach: YU ZHIHAO
The invention discloses a 4WID-4WIS automobile path tracking control method and system based on an HJI theory. The system comprises an information perception module, a man-machine interaction module, a steering control module, a state monitoring module and a lower execution module. The information sensing module is used for acquiring vehicle state parameters; according to the method, a Hamilton-Jacobi-Issacs inequality is utilized to design a corner control law and an adaptive control law, and the influence of approximation error interference on a system is attenuated to be below a specified level; the steering control module obtains a front and rear wheel steering angle control law of the vehicle, meanwhile, a radial basis function neural network algorithm is designed, approximation is conducted on unknown interference of the system, a proper Lyapunov function and an interference suppression evaluation index are designed, and the state monitoring module monitors the path condition and the vehicle stability in real time. When the vehicle state is abnormal, information is transmitted to the man-machine interaction module in time, meanwhile, direct yawing moment control is started, and vehicle driving safety is guaranteed; the method can effectively reduce the influence of unknown interference on the system.
本发明公开了一种基于HJI理论的4WID‑4WIS汽车路径跟踪控制方法及系统，所述系统包含信息感知、人机交互、转向控制、状态监测和下层执行五个模块；所述信息感知模块用于获取车辆状态参数；本发明利用Hamilton‑Jacobi‑Issacs不等式设计转角控制律和自适应控制律，将逼近误差干扰对系统的影响衰减到规定水平以下；转向控制模块获取车辆前后轮转角控制律，同时设计径向基神经网络算法，对系统未知干扰进行逼近，设计合适的李雅普诺夫函数和干扰抑制评价指标，状态监测模块实时监测路径情况和车辆稳定性，在车辆状态异常时将信息及时传递给人机交互模块，同时启动直接横摆力矩控制，保证车辆行驶安全；本发明可有效降低未知干扰对系统的影响。
Dokumentinformationen
4WID-4WIS automobile path tracking control method and system based on HJI theory
一种基于HJI理论的4WID-4WIS汽车路径跟踪控制方法及系统
2022-05-27
Patent
Elektronische Ressource
Chinesisch
| 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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