CN108407708B - 一种基于atsm的汽车自适应前照灯转角补偿控制方法 - Google Patents
一种基于atsm的汽车自适应前照灯转角补偿控制方法 Download PDFInfo
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- CN108407708B CN108407708B CN201810067808.XA CN201810067808A CN108407708B CN 108407708 B CN108407708 B CN 108407708B CN 201810067808 A CN201810067808 A CN 201810067808A CN 108407708 B CN108407708 B CN 108407708B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/12—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
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Abstract
Description
技术领域
本发明属于汽车自适应前照灯技术领域,具体涉及一种基于ATSM的汽车自适应前照灯转角补偿控制方法。
背景技术
随着汽车保有量的逐年上升,道路环境愈发拥挤和复杂多变,天气状态等环境因素和驾驶员的不良驾驶习惯等人为因素更是加重了道路环境的复杂程度。汽车传统的近光和远光两种简单照明模式,已远远不能满足行驶安全性、舒适性和操纵性的需求。与传统前照灯相比,自适应前照灯系统(Adaptive Front-lighting System,AFS)可根据车速、行车环境、照明条件等因素作自适应调整,灵活实现多种配光,有效保证自车和他车的照明行驶安全,减轻驾驶员的负担。
中国专利201310242668.2提供了一种汽车及应用于其的前大灯控制方法,该方法利用多种环境信息控制前大灯的开启、光量及角度,大大提高汽车照明安全。但该方法并未给出具体的控制策略和控制方法。中国专利201120502345.9设计了一种跟随汽车转动方向的汽车前大灯,该前大灯通过机械结构上的设计使得前大灯能够跟随汽车转动而进行相应的转角调节。显然这种前大灯的转角调节方式是相对固定的,并不足够灵活。
发明内容
为解决上述问题,本发明提供一种基于自适应螺旋滑模算法(Adaptive TwistingSliding Mode,ATSM)的汽车自适应前照灯转角补偿控制方法,有效抑制控制器抖振,显著提高转角误差补偿精度及控制稳定性,有效减小前照灯自适应转角误差。
本发明提供一种基于ATSM的汽车自适应前照灯转角补偿控制方法,包括以下步骤:
S1,为保证前照灯实际转角与目标转角绝对误差在5°内,基于ATSM算法设计前照灯转角补偿控制器;
S2,设计所述步骤S1中ATSM控制增益的自适应律。
S3,构造Lyapunov函数,对所设计控制器进行稳定性分析。
所述S1的具体过程为:
为保证前照灯实际转角与目标转角绝对误差在5°内,采用ATSM算法设计前照灯转角补偿控制器:
定义滑模变量:
s=δ-δi
其中:δ为前照灯目标转角,δi前照灯实际转角。
控制输出:
式中:α为螺旋滑模控制增益。
所述S2的具体过程为:
自适应螺旋滑模控制增益自适应律设计如下:
所述S3的具体过程为:
构造Lyapunov函数如下:
其中:
式中:β、α*均为正常数。
分析得出稳定性条件:
本发明的有益效果为:
本发明采用螺旋滑模算法进行前照灯转角补偿控制器设计,控制器输出的是符号函数的积分值,可有效的抑制传统滑模控制算法中的抖振。同时通过对螺旋滑模控制增益进行自适应设计,进一步提高控制精度和系统抖振。综上,本发明可显著提高转角误差补偿精度及控制稳定性,有效减小前照灯自适应转角误差。
附图说明
图1是汽车自适应前照灯转角补偿控制器示意图。
图2是基于ATSM的汽车自适应前照灯转角补偿控制流程图。
具体实施方式
下面结合附图对本发明作进一步说明。
基于ATSM的汽车自适应前照灯转角补偿控制方法,包括步骤:
S1,为保证前照灯实际转角与目标转角绝对误差在5°内,基于ATSM算法设计前照灯转角补偿控制器,如图1所示,控制系统实施控制的流程如图2所示。
定义滑模变量:
s=δ-δi (1)
其中:δ为前照灯目标转角,δi前照灯实际转角。
分别对滑模变量求一阶导数及二阶导数,得:
滑模变量的一阶导数及二阶导数表示为:
控制输出:
式中:α为螺旋滑模控制增益。
S2,设计所述步骤S1中ATSM控制增益的自适应律,如图2所示,具体如下:
为使滑模变量及其导数在有限时间内收敛到0,需要对控制增益进行自适应控制。为此,本发明提出以下控制增益自适应律:
稳定性条件:
S3,构造Lyapunov函数,对所设计控制方法进行稳定性分析。
S3.1,构造Lyapunov函数如下:
其中:
式中:β、α*均为正常数。
对V0(s,s)求导得:
建立不等式:
不等式右边写成:
由以上有界性分析可知,必存在一正数α*,使得α-α*<0恒成立,因此有:
故系统目标函数可在有限时间内收敛到零点附近。
综上,当满足:
所设计的控制器是稳定的。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明,它们并非用以限制本发明的保护范围,凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
Claims (8)
2.根据权利要求1所述的一种基于ATSM的汽车自适应前照灯转角补偿控制方法,其特征在于,所述步骤S1的前照灯转角补偿控制器能够使得前照灯实际转角与目标转角绝对误差在5°内。
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4039782A (en) * | 1974-10-25 | 1977-08-02 | Daimler-Benz Aktiengesellschaft | Installation for controlling a measuring beam and/or a light beam in motor vehicles |
EP1442928A1 (fr) * | 2003-01-31 | 2004-08-04 | Valeo Vision | Dispositif d'éclairage comportant des moyens pour compenser la défaillance d'un code virage |
JP2009248827A (ja) * | 2008-04-08 | 2009-10-29 | Ichikoh Ind Ltd | 側方照射灯システム |
CN103863174A (zh) * | 2013-01-29 | 2014-06-18 | 王洪新 | 一种车辆前照灯预测型随动控制方法 |
CN107215329A (zh) * | 2017-05-10 | 2017-09-29 | 江苏大学 | 一种基于atsm的分布式驱动电动汽车横向稳定性控制方法 |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4039782A (en) * | 1974-10-25 | 1977-08-02 | Daimler-Benz Aktiengesellschaft | Installation for controlling a measuring beam and/or a light beam in motor vehicles |
EP1442928A1 (fr) * | 2003-01-31 | 2004-08-04 | Valeo Vision | Dispositif d'éclairage comportant des moyens pour compenser la défaillance d'un code virage |
JP2009248827A (ja) * | 2008-04-08 | 2009-10-29 | Ichikoh Ind Ltd | 側方照射灯システム |
CN103863174A (zh) * | 2013-01-29 | 2014-06-18 | 王洪新 | 一种车辆前照灯预测型随动控制方法 |
CN107215329A (zh) * | 2017-05-10 | 2017-09-29 | 江苏大学 | 一种基于atsm的分布式驱动电动汽车横向稳定性控制方法 |
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