CN109760680B - Robust control method for variable speed cruise system of autonomous vehicle with uncertain parameters - Google Patents
Robust control method for variable speed cruise system of autonomous vehicle with uncertain parameters Download PDFInfo
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Abstract
A robust control method for a variable speed cruise system of an autonomous vehicle with uncertain parameters comprises the following steps: 1) establishing a three-order state space mathematical model of the vehicle adaptive cruise system; 2) defining a robust control function of the vehicle adaptive cruise system at the time t; 3) obtaining the distance error, the relative speed and the vehicle acceleration of the vehicle between the vehicle in front of the current time and the vehicle through a vehicle-mounted sensor, obtaining the vehicle acceleration in front of the current time through wireless channel transmission, and calculating the safe vehicle distance control quantity u of the vehicle self-adaptive cruise system in real time according to the equation (4)1(t) driving the vehicle to track the motion state of the vehicle ahead; and in the next control period, obtaining the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle through the vehicle-mounted sensor, and obtaining the acceleration of the front vehicle through wireless channel transmission. The invention has intuitive understanding, simple design and easy realization.
Description
Technical Field
The invention belongs to the field of automatic control of vehicle cruise, and relates to a robust control method of an uncertain-parameter autonomous vehicle speed change cruise system.
Background
The vehicle self-adaptive cruise control can obtain vehicle state information and surrounding vehicle information through a vehicle-mounted sensing system and other communication modes, and the acceleration of the vehicle is adjusted by using an acceleration control algorithm, so that a stable and safe distance between the vehicle and a front vehicle is kept. The method can improve the safety and comfort of vehicle driving, reduce the burden of a driver, effectively reduce the energy consumption of vehicle driving and improve the traffic flow density of roads. Therefore, research on the adaptive cruise control system of the vehicle has been a hot spot in the fields of automatic control and intelligence of the vehicle. Theoretical researches on the existing vehicle adaptive cruise system control method include a fuzzy control method, a sliding mode control method, a model prediction control method, a vehicle cruise control method based on a neural network and the like. In most control methods, the design of the controller often requires that the system is subjected to dynamic analysis first to establish a system state model. In an actual system, a dynamic analysis of a system structure usually has many uncertain factors, and therefore, if a high-accuracy system modeling is required, the established system state model is also usually accompanied by time-varying uncertain parameters. Uncertain factors influencing the performance of a vehicle system can be roughly divided into two aspects, namely uncertainty of the characteristics of the system, such as material properties, loss and aging of device equipment and the like; and secondly, uncertainty of external environment, such as bumpiness and bumpiness of a road, rain and snow weather and the like. The uncertainty in the two aspects influences the overall vehicle performance of the vehicle, and the relevant parameters in the vehicle system state model established correspondingly are changed. In practical application, a controller designed based on a system model with constant parameters may have a large influence on the driving stability of the whole vehicle due to a large difference between the system state model and the actual vehicle system state. Therefore, with the recent improvement of the requirements for the control performance and stability of the whole automobile, the search for a high-stability vehicle adaptive control method under a vehicle system state model with uncertain parameters becomes a research direction with great theoretical significance and practical value in the field of vehicle cruise automatic control.
Disclosure of Invention
In order to consider the problem that the performance of the vehicle engine is unstable in practice, namely the time constant parameter of the engine is uncertain, the invention provides the robust control method of the variable speed cruise system of the autonomous vehicle, which is intuitive to understand, simple in design and easy to realize, of the parameter uncertain.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a robust control method for a variable speed cruise system of an autonomous vehicle with uncertain parameters comprises the following steps:
1) establishing a three-order state space mathematical model of the vehicle adaptive cruise system, and referring to formula (1):
wherein, subscript 1 represents the vehicle, and subscript 0 represents the vehicle ahead; the variable t represents time; the state variable delta1(t)、Δν1(t) and a1(t) respectively representing the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle at the time t; a is0(t) represents the acceleration of the preceding vehicle at time t; u. of1(t) represents a commanded acceleration of the host vehicle at time t; parameter h1And
respectively the time interval and the engine time constant,
a time-varying uncertainty increment of an engine time constant;
get x1＝[δ1 Δν1(t) a1]TFormula (1) is converted to matrix form, see formula (2):
wherein the content of the first and second substances,
ΔA1(t)，ΔB1(t) is a time-varying structural uncertainty, of the form:
[ΔA1(t) ΔB1(t)]＝DF(t)[E1 E2] (3)
wherein F (t) is a time-varying unknown real matrix satisfying
Matrices D and E1、E2A real constant matrix with appropriate dimensions;
2) defining a robust control function of the vehicle adaptive cruise system at the time t, and referring to an expression (4):
wherein, K1Is a gain coefficient of the control function, and is used for the distance error delta between the front vehicle and the vehicle1(t) relative velocity Δ v1(t) and vehicle acceleration a1(t) has control gains of k1、k2、k3And a controller is arranged for controlling the acceleration a of the front vehicle0(t) has a control gain of-k3，K1The linear matrix inequality is obtained by the linear matrix inequality, and the linear matrix inequality to be satisfied is shown in formula (5):
there is a real matrix with the appropriate dimensions
Q＝QT> 0, V and a positive number ε, such that the following LMI holds:
wherein the content of the first and second substances,
gain factor of control function
3) Obtaining the distance error, the relative speed and the vehicle acceleration of the vehicle before and the vehicle at the current moment through the vehicle-mounted sensor, and obtaining the vehicle acceleration of the vehicle before and the vehicle at the current moment through wireless channel transmissionSpeed, calculating the safe inter-vehicle distance control quantity u of the vehicle self-adaptive cruise system in real time according to the equation (4)1(t) driving the vehicle to track the motion state of the vehicle ahead; and in the next control period, obtaining the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle through the vehicle-mounted sensor, and obtaining the acceleration of the front vehicle through wireless channel transmission.
The technical conception of the invention is as follows: aiming at continuously improving the control requirement of the safety inter-vehicle distance stability in the field of vehicle self-adaptive cruise control, a three-order continuous time dynamic model of a vehicle self-adaptive cruise system is established, the uncertainty of a time constant parameter of a vehicle engine is considered, a robust controller of an uncertain parameter autonomous vehicle speed change cruise system is designed, the safety inter-vehicle distance control quantity of the vehicle self-adaptive cruise system is calculated in real time, and the self-adaptive cruise control of the vehicle under the condition that the time constant of the engine is changed, namely the parameter uncertainty exists is realized.
The main execution part of the invention is operated and implemented on the automatic driving control computer of the vehicle. The implementation process of the method can be divided into the following three stages:
1. setting parameters: including model parameters and controller parameters, inputting a time interval h in a model parameter import interface1Time constant of engine
Constant real matrices D and E1、E2(ii) a In the parameter setting of the controller, inputting an adjustable parameter epsilon, and after the input parameter is confirmed, sending the setting data into a computer storage unit RAM by a control computer for storage;
2. off-line debugging: clicking a 'debugging' button in the configuration interface, enabling the cruise control system to enter an offline debugging stage of the controller, adjusting an adjustable parameter epsilon in the configuration interface, and obtaining a linear matrix inequality of a formula (5) offline to obtain a gain coefficient K of a feasible self-vehicle control function1Observing the effect of the safe inter-vehicle distance control of the vehicle adaptive cruise system to determine oneThe adjustable parameter epsilon of the safe inter-vehicle distance control of the vehicle self-adaptive cruise system can be well realized.
3. And (3) online operation: starting a CPU of a main control computer to read model parameters and controller parameters, obtaining the distance error, the relative speed and the vehicle acceleration of the vehicle between the vehicle and the vehicle at the current moment through a vehicle-mounted sensor, obtaining the vehicle acceleration at the current moment through wireless channel transmission, and calculating the safe vehicle distance control quantity u of the vehicle self-adaptive cruise system in real time according to the equation (4)1(t) driving the vehicle to track the motion state of the vehicle ahead; and in the next control period, the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle are obtained again through the vehicle-mounted sensor, the front vehicle acceleration is obtained through wireless channel transmission, and the robust control of the parameter uncertain autonomous vehicle speed change cruise system with high stability and real-time performance of the vehicle is realized in this way.
The invention has the following beneficial effects: 1. in the design of the controller, the problems that the performance of an engine is unstable and the time constant of the engine has time-varying uncertainty in the actual vehicle running process are comprehensively considered, so that the method is more suitable for the actual environment and is beneficial to improving the actual stability of the system; 2. the uncertain parameter autonomous vehicle variable speed cruise system robust controller is simple in design, convenient to understand, few in adjustment parameters, high in instantaneity, and high in practicability and adaptability.
Drawings
Fig. 1 is a vehicle distance change curve of a vehicle and a preceding vehicle in robust control of an autonomous vehicle variable speed cruise system with uncertain parameters.
FIG. 2 is a curve showing the variation of the input control quantity of the vehicle in the robust control of the variable speed cruise system of the autonomous vehicle with uncertain parameters.
Fig. 3 is a relative speed change curve of a vehicle and a preceding vehicle in robust control of the parameter uncertain autonomous vehicle variable speed cruise system.
FIG. 4 is a curve of acceleration variation of the vehicle under robust control of the variable speed cruise system of the autonomous vehicle with uncertain parameters.
Fig. 5 is a speed change curve of a preceding vehicle and a vehicle in robust control of the parameter uncertain autonomous vehicle variable speed cruise system.
Detailed Description
The method of the present invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 5, a robust control method of a variable speed cruise system of an autonomous vehicle with uncertain parameters, the control method comprising the steps of:
1) establishing a three-order state space mathematical model of the vehicle adaptive cruise system, and referring to formula (1):
wherein, subscript 1 represents the vehicle, and subscript 0 represents the vehicle ahead; the variable t represents time; the state variable delta1(t)、Δν1(t) and a1(t) respectively representing the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle at the time t; a is0(t) represents the acceleration of the preceding vehicle at time t; u. of1(t) represents a commanded acceleration of the host vehicle at time t; parameter h1And
respectively the time interval and the engine time constant,
a time-varying uncertainty increment of an engine time constant;
get x1＝[δ1 Δν1(t) a1]TFormula (1) is converted to matrix form, see formula (2):
wherein the content of the first and second substances,
ΔA1(t)，ΔB1(t) isVariable structure uncertainty, of the form:
[ΔA1(t) ΔB1(t)]＝DF(t)[E1 E2] (3)
wherein F (t) is a time-varying unknown real matrix satisfying
Matrices D and E1、E2A real constant matrix with appropriate dimensions;
2) defining a robust control function of the vehicle adaptive cruise system at the time t, and referring to an expression (4):
wherein, K1Is a gain coefficient of the control function, and is used for the distance error delta between the front vehicle and the vehicle1(t) relative velocity Δ v1(t) and vehicle acceleration a1(t) has control gains of k1、k2、k3And a controller is arranged for controlling the acceleration a of the front vehicle0(t) has a control gain of-k3，K1The linear matrix inequality can be obtained by a linear matrix inequality, and the linear matrix inequality to be satisfied is shown in formula (5):
there is a real matrix with the appropriate dimensions
Q＝QT> 0, V and a positive number ε, such that the following LMI holds:
wherein the content of the first and second substances,
gain factor of control function
3) Obtaining the distance error, the relative speed and the vehicle acceleration of the vehicle between the vehicle in front of the current time and the vehicle through a vehicle-mounted sensor, obtaining the vehicle acceleration in front of the current time through wireless channel transmission, and calculating the safe vehicle distance control quantity u of the vehicle self-adaptive cruise system in real time according to the equation (4)1(t) driving the vehicle to track the motion state of the vehicle ahead; and in the next control period, obtaining the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle through the vehicle-mounted sensor, and obtaining the acceleration of the front vehicle through wireless channel transmission.
The embodiment is a robust control process of the variable speed cruise system of the autonomous vehicle with uncertain parameters, and the specific operation process is as follows:
1. in the parameter setting interface, model parameters are input as follows: time interval h 12, engine time constant
The constant real matrix D ═ 000; 000; 001]，E1＝[0 0 0；0 0 0；0 0-4.2]，E2＝[0；0；4.2]And inputting controller parameters: the initial value of the adjustable parameter epsilon is set to 1;
2. clicking a 'debugging' button on a configuration interface to enter a debugging interface, starting a CPU (central processing unit) of a main control computer to call a 'controller calculation program' which is programmed in advance to solve feasible parameter uncertainty robust control function gain coefficient K1The calculation process is as follows:
1) according to a given parameter epsilon, calculating a corresponding control function gain coefficient K by using a linear matrix inequality (5)1；
2) And (3) calculating the control quantity according to the equation (4), observing the safe inter-vehicle distance control effect of the vehicle self-adaptive cruise system, adjusting an adjustable parameter epsilon, comprehensively considering the response capability and the adjustment time of the safe inter-vehicle distance control, and determining an optimal debugging parameter epsilon which can well realize the robust control of the parameter uncertain autonomous vehicle variable speed cruise system to be 0.5.
3) According to the epsilon value obtained by debugging, calculating a feasible controller gain coefficient K by using a linear matrix inequality (5)1，
K1＝[0.3724 0.6573 -0.6774]，
Storing the calculation result into a computer storage unit RAM;
3. starting a CPU of a main control computer to read model parameters and controller parameters, obtaining the distance error, the relative speed and the vehicle acceleration of the vehicle between the vehicle and the vehicle at the current moment through a vehicle-mounted sensor, obtaining the vehicle acceleration at the current moment through wireless channel transmission, and calculating the safe vehicle distance control quantity u of the vehicle self-adaptive cruise system in real time according to the equation (4)1(t) driving the vehicle to track the motion state of the vehicle ahead; in the next control period, the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle are obtained again through the vehicle-mounted sensor, the front vehicle acceleration is obtained through wireless channel transmission, and the robust control of the autonomous vehicle variable speed cruise system with uncertain parameters of the high stability and the real-time performance of the vehicle is realized in this way;
in this embodiment, the selected vehicle length L is 2m, the initial speed of the front vehicle is 0, and the internal acceleration of 0-30 s is 1m/s230s rear acceleration of 0, minimum safety distance d0Assume a time-varying uncertain increment of the engine time constant at 8m
Within the interval (0, 1).
The actual control effect is shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, and fig. 1 is a vehicle-to-vehicle distance variation curve of a vehicle and a preceding vehicle in the robust control of the parameter uncertain autonomous vehicle variable speed cruise system. FIG. 2 is a curve showing the variation of the input control quantity of the vehicle in the robust control of the variable speed cruise system of the autonomous vehicle with uncertain parameters. Fig. 3 is a relative speed change curve of a vehicle and a preceding vehicle in robust control of the parameter uncertain autonomous vehicle variable speed cruise system. FIG. 4 is a curve of acceleration variation of the vehicle under robust control of the variable speed cruise system of the autonomous vehicle with uncertain parameters. Fig. 5 is a speed change curve of a preceding vehicle and a vehicle in robust control of the parameter uncertain autonomous vehicle variable speed cruise system.
The above illustrates the excellent parameter uncertain autonomous vehicle transmission cruise system robust control effect presented by one embodiment of the present invention. It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that any modifications made within the spirit of the invention and the scope of the appended claims fall within the scope of the invention.
Claims (1)
1. A robust control method for a variable speed cruise system of an autonomous vehicle with uncertain parameters is characterized by comprising the following steps:
1) establishing a three-order state space mathematical model of the vehicle adaptive cruise system, and referring to formula (1):
wherein, subscript 1 represents the vehicle, and subscript 0 represents the vehicle ahead; the variable t represents time; the state variable delta1(t)、Δν1(t) and a1(t) respectively representing the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle at the time t; a is0(t) represents the acceleration of the preceding vehicle at time t; u. of1(t) represents a safe inter-vehicle distance control quantity of the vehicle adaptive cruise system at the time t; parameter h1And
respectively the time interval and the engine time constant,
a time-varying uncertainty increment of an engine time constant;
get x1＝[δ1 Δν1(t) a1]TFormula (1) can be converted to a matrix form, see formula (2):
wherein the content of the first and second substances,
ΔA1(t)，ΔB1(t) is a time-varying structural uncertainty, of the form:
[ΔA1(t) ΔB1(t)]＝DF(t)[E1 E2] (3)
wherein F (t) is a time-varying unknown real matrix satisfying
Matrices D and E1、E2A real constant matrix with appropriate dimensions;
2) defining a robust control function of the vehicle adaptive cruise system at the time t, and referring to an expression (4):
wherein, K1Is a gain coefficient of the control function, and is used for the distance error delta between the front vehicle and the vehicle1(t) relative velocity Δ v1(t) and vehicle acceleration a1(t) has control gains of k1、k2、k3And a controller is arranged for controlling the acceleration a of the front vehicle0(t) has a control gain of-k3，K1The linear matrix inequality is obtained by the linear matrix inequality, and the linear matrix inequality to be satisfied is shown in formula (5):
there is a real matrix with the appropriate dimensions
Q＝QT> 0, V and a positive number ε, such that the following LMI holds:
wherein the content of the first and second substances,
gain factor of control function
3) Obtaining the distance error, the relative speed and the vehicle acceleration of the vehicle between the vehicle in front of the current time and the vehicle through a vehicle-mounted sensor, obtaining the vehicle acceleration in front of the current time through wireless channel transmission, and calculating the safe vehicle distance control quantity u of the vehicle self-adaptive cruise system in real time according to the equation (4)1(t) driving the vehicle to track the motion state of the vehicle ahead; and in the next control period, obtaining the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle through the vehicle-mounted sensor, and obtaining the acceleration of the front vehicle through wireless channel transmission.
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| DE102014218198A1 (en) * | 2014-09-11 | 2016-03-17 | Robert Bosch Gmbh | Distance control system for motor vehicles |
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