CN113075930A - Unmanned vehicle automatic steering control method and system based on event triggering - Google Patents
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Abstract
The invention discloses an event-triggered automatic steering control method and system for an unmanned vehicle, and aims to solve the technical problems of computing redundancy, communication resource waste and network communication congestion in the existing automatic steering control technology. The technical scheme of the invention is an event-triggered automatic steering control method for an unmanned vehicle, which specifically comprises the following steps: (1) establishing a mathematical model of an automatic steering system of the unmanned vehicle; (2) establishing a communication mechanism based on event triggering; (3) determining a system control target and designing an automatic steering controller of the unmanned vehicle based on event triggering; (4) the real-time state information of the unmanned vehicle is collected, the on-line control of an automatic steering system is realized, and the tracking and safe driving of the expected path are completed. The invention introduces an event trigger communication mechanism into an automatic steering system of the unmanned vehicle, and establishes a joint design condition of an event trigger and a controller. The control method provided by the invention can not only ensure the path tracking performance of the system, but also effectively reduce the signal transmission frequency and save communication and calculation resources.
Description
Technical Field
The invention belongs to the technical field of advanced control of intelligent automobiles, and particularly relates to an automatic steering control method and system of an unmanned automobile based on event triggering.
Background
The unmanned vehicle is a product combining a plurality of different fields such as a control theory, an information theory, a computer technology, artificial intelligence and the like, realizes the autonomous driving of the vehicle by carrying advanced sensing devices, computing units, control execution components and other devices, and makes great contribution in the aspects of promoting the construction of an intelligent traffic system, improving traffic safety and the like. The automatic steering control is one of several key technologies of the unmanned vehicle, is a core technology for realizing the autonomous driving of the unmanned vehicle and following an expected track, and attracts the attention of various academic circles and industries.
In consideration of the problems and challenges that an unmanned vehicle faces complex driving conditions, variable environments, nonlinear coupling and the like, the design of the robust automatic steering controller is a guarantee for realizing unmanned vehicle path tracking and becomes a key point in the field of unmanned vehicle control. The invention patent with the patent number CN 107015477B proposes a vehicle path tracking H based on state feedback∞The control method, the invention patent with the patent number of CN 107831761B, provides a path tracking control method for an intelligent vehicle, the invention patent with the patent number of CN 111897344B, provides a path tracking control method for an automatic driving vehicle which gives consideration to stability, however, the above technologies are all based on the traditional time-triggered communication mechanism, the characteristic that the bandwidth of the unmanned vehicle communication network is limited is not considered, and the importance of saving communication and computing resources is ignored. Therefore, the invention provides an event trigger-based automatic steering control method for the unmanned vehicle, which realizes the decision of communication by setting an event trigger and optimizes the communication quality. Compared with the traditional time trigger control, the event trigger controller provided by the invention can reduce unnecessary signal transmission, save network communication resources and simultaneously ensure the path tracking performance of the unmanned vehicle.
Disclosure of Invention
The invention aims to reduce unnecessary signal transmission and save network communication resources, provides an automatic steering control method of an unmanned vehicle based on event triggering, and aims to improve the system control efficiency and the path tracking performance of the unmanned vehicle.
The technical scheme adopted by the invention is as follows:
an automatic steering control method of an unmanned vehicle based on event triggering is realized by the following steps:
step one, establishing a mathematical model of an automatic steering system of the unmanned vehicle, which comprises the following two parts:
1) the unmanned vehicle dynamics model is established through the law of mechanics as follows:
wherein: fyf＝Cfαf，Fyr＝Crαr，
αfRepresenting a front wheel side slip angle; alpha is alpharRepresenting the rear wheel side deflection angle, m refers to the mass of the unmanned vehicle; deltafThe steering angle of the driving front wheel is indicated; v. ofyAnd vxRespectively the transverse speed and the longitudinal speed of the unmanned vehicle;
and
respectively indicating the yaw angular velocity and the yaw angular acceleration of the unmanned vehicle; beta refers to the centroid slip angle of the unmanned vehicle, which can be approximated as vyAnd vxThe ratio of (A) to (B); i iszThe yaw moment of the unmanned vehicle is referred to; lfAnd lrThe distances from the center of mass of the unmanned vehicle to the front axle and the rear axle are respectively indicated; fyfIndicating a front wheel side biasing force of the unmanned vehicle; fyrIndicating a rear wheel side biasing force of the unmanned vehicle; cfAnd CrRespectively refer to the cornering stiffness of the front and rear tires of the unmanned vehicle.
2) The positional relationship of the unmanned vehicle and the desired path may be described as:
wherein, ycRefers to the lateral position of the unmanned vehicle and the expected pathDeviation; psicThe course angle error which represents the current position of the unmanned vehicle is the actual yaw angle psi and the expected path course angle psi of the unmanned vehicledA difference of (i.e.. psi)c＝ψ-ψd；vyAnd vxRespectively the transverse speed and the longitudinal speed of the unmanned vehicle;
representing the yaw rate of the unmanned vehicle; ρ (σ) represents the curvature of the desired path.
Selecting the lateral velocity v of an unmanned vehicleyYaw angular velocity
Lateral position deviation ycAnd heading angle error psicAs the state variables of the control system model, the unmanned vehicle automatic steering control system model can be obtained as follows:
in the formula (I), the compound is shown in the specification,
ω(t)＝ρ(σ)，u(t)＝δf，
where x (t), ω (t), and u (t) are the state vector, interference input, and control input, respectively, of the system, A, B1And B2Respectively a corresponding system matrix, an interference input matrix and a control input matrix.
Further, the event trigger-based communication mechanism comprises the following trigger conditions:
[x(tkh+nh)-x(tkh)]TΩ[x(tkh+nh)-x(tkh)]≥μxT(tkh)Ωx(tkh)
n＝1,2,...,k＝1,2,...
wherein h represents a sampling period; t is tkh and x (t)kh) Respectively representing the latest triggered time and the corresponding trigger state quantity; t is tkh + nh and x (t)kh + nh) respectively represent the current sampling moment and the corresponding sampling state quantity; omega is a positive definite weighting matrix and needs to be designed together with the controller; mu is a threshold parameter given by a user according to actual needs, and the requirement that mu is more than or equal to 0 and less than 1 is met;
further, the joint design of the event trigger and the controller includes the following:
1) the event trigger controller is defined in the form:
in the formula, tkh denotes the most recent time triggered, tk+1h denotes the next triggered time, x (t)kh) Representing the most recently triggered state quantity, K representing the gain matrix of the controller, τkAnd τk+1Respectively representing data packets x (t)kh) And x (t)k+1h) Time delay of transmission to the controller;
2) the system control target is determined as follows:
selecting the system controlled output vector z (t) ═ yc ψc]TCx (t), wherein
Further determining the system control target as | z (t) | non-woven calculation2＜γ||ω(t)||2；
3) Establishing unmanned vehicle automatic steering closed loop time delay system
When the system is in the time interval tkh+τk,tk+1h+τk+1) In the run-up operation, the time interval is divided into the following series of subintervals gamma1，Γ2，…，Γδ：
Where δ satisfies the condition δ ═ min { j | tkh+τk+jh≥tk+1h+τk+1}. Further, the following two piecewise functions are defined:
step two, constructing a communication mechanism based on event triggering;
step three, jointly designing an event trigger and a controller;
step four, controlling the automatic steering behavior of the unmanned vehicle on line;
further, the event-triggered controller may be described as:
wherein the time lag tau (t) satisfies 0 ≦ tau1≤τ(t)≤τ2Wherein, the upper and lower bounds of the time lag are respectively:
τ1＝min{τk1, 2. } and τ2＝h+max{τk|k＝1,2,...}。
Further, the closed loop system for automatic steering control of the unmanned vehicle can be described as follows:
4) jointly solving the trigger matrix Ω and the controller gain matrix K, which can be obtained by solving the following set of linear matrix inequalities:
it is worth pointing out that the above conditions can ensure that the closed loop system satisfies asymptotic stability and desired performance | | z (t) | survival2＜γ||ω(t)||2Further, the calculation formula of the controller gain matrix K is: k is VL-1. In the formula: A. b is1、B2And C refers to the system matrix, the interference input matrix, the control input matrix and the controlled output matrix respectively as described above, γ is a positive number given by the user according to actual needs, L, Q1、Q2、R1、R2Omega is a positive definite matrix of suitable dimensions, V is a general matrix of suitable dimensions, mu is a threshold parameter given by the user according to the actual needs and satisfies 0 ≦ mu < 1, tau1And τ2Respectively representing the lower and upper bounds, τ, of the system skew12＝τ2-τ1；
Further, the obtained event trigger controller is used for carrying out online control on the automatic steering behavior of the unmanned vehicle, so that the unmanned vehicle system simultaneously meets asymptotic stability and expected performance requirements | | | z (t) |2＜γ||ω(t)||2Wherein γ is an inhibition indicator reference value.
The invention discloses an automatic steering control system of an unmanned vehicle, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the method when executing the computer program.
The present invention discloses a computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program realizes the method steps when being executed by a processor.
The invention has the beneficial effects that:
the unmanned vehicle automatic steering control system introduces an event trigger communication mechanism and establishes a joint design condition of an event trigger and a controller. The designed event trigger controller can effectively reduce unnecessary signal exchange and save communication and computing resources while ensuring the driving stability and the path tracking performance of the system.
Drawings
FIG. 1 is a schematic diagram of a mechanism model of the unmanned vehicle of the present invention.
Fig. 2 is a diagram of a sample data transmission interval according to an embodiment of the present invention.
Fig. 3 is a diagram of simulation effects related to unmanned vehicle path tracking in an embodiment of the present invention.
Fig. 4 is a partial enlarged view of the unmanned vehicle path tracking simulation effect according to the embodiment of the present invention.
Detailed Description
The invention is further described in connection with the drawings and the detailed description so that those skilled in the art may better understand the invention and practice it, but the examples should not be construed as limiting the invention.
In this embodiment, an event-triggered automatic steering control method for an unmanned vehicle includes the following control steps:
(1) establishing mathematical model of automatic steering system of unmanned vehicle
As shown in fig. 1, X-Y is a plane coordinate system fixed to the ground, where X denotes a direction of a straight road surface and Y denotes a direction perpendicular to the X axis; x-y is a coordinate system fixed to the vehicle, where x represents the longitudinal direction of the vehicle and y represents the lateral direction of the vehicle, with the origin of the coordinate system located at the center of mass of the vehicle. The unmanned vehicle dynamics model is established through the law of mechanics as follows:
wherein: fyf＝Cfαf，Fyr＝Crαr，
αfRepresenting a front wheel side slip angle; alpha is alpharThe rear wheel side slip angle is shown,m refers to the mass of the unmanned vehicle; deltafThe steering angle of the driving front wheel is indicated; v. ofyAnd vxRespectively the transverse speed and the longitudinal speed of the unmanned vehicle;
and
respectively indicating the yaw angular velocity and the yaw angular acceleration of the unmanned vehicle; beta refers to the centroid slip angle of the unmanned vehicle, which can be approximated as vyAnd vxThe ratio of (A) to (B); i iszThe yaw moment of the unmanned vehicle is referred to; lfAnd lrThe distances from the center of mass of the unmanned vehicle to the front axle and the rear axle are respectively indicated; fyfIndicating a front wheel side biasing force of the unmanned vehicle; fyrIndicating a rear wheel side biasing force of the unmanned vehicle; cfAnd CrRespectively refer to the cornering stiffness of the front and rear tires of the unmanned vehicle.
As shown in fig. 1, the positional relationship of the unmanned vehicle and the desired path may be described as:
wherein, ycThe lateral position deviation of the unmanned vehicle and the expected path is indicated; psicThe course angle error which represents the current position of the unmanned vehicle is the actual yaw angle psi and the expected path course angle psi of the unmanned vehicledA difference of (i.e.. psi)c＝ψ-ψd；vyAnd vxRespectively the transverse speed and the longitudinal speed of the unmanned vehicle;
representing the yaw rate of the unmanned vehicle; ρ (σ) represents the curvature of the desired path.
Further, the transverse speed v of the unmanned vehicle is selectedyYaw angular velocity
Lateral position deviation ycAnd heading angle error psicAs the state variables of the control system model, the unmanned vehicle automatic steering control system model can be obtained as follows:
in the formula (I), the compound is shown in the specification,
ω(t)＝ρ(σ)，u(t)＝δf，
where x (t), ω (t), and u (t) are the state vector, interference input, and control input, respectively, of the system, A, B1And B2Respectively a corresponding system matrix, an interference input matrix and a control input matrix.
(2) Building event trigger based communication mechanism
The event trigger based communication mechanism comprises the following trigger conditions:
[x(tkh+nh)-x(tkh)]TΩ[x(tkh+nh)-x(tkh)]≥μxT(tkh)Ωx(tkh)
n＝1,2,...,k＝1,2,...
wherein h represents a sampling period; t is tkh and x (t)kh) Respectively representing the latest triggered time and the corresponding trigger state quantity; t is tkh + nh and x (t)kh + nh) respectively represent the current sampling moment and the corresponding sampling state quantity; omega is a positive definite weighting matrix and needs to be designed together with the controller; mu is a threshold parameter given by a user according to actual needs, and the requirement that mu is more than or equal to 0 and less than 1 is met;
(3) joint design event trigger and controller
1) The event trigger controller is defined in the form:
in the formula, tkh denotes the most recent time triggered, tk+1h denotes the next triggered time, x (t)kh) Representing the most recently triggered state quantity, K representing the gain matrix of the controller, τkAnd τk+1Respectively representing data packets x (t)kh) And x (t)k+1h) Time delay of transmission to the controller;
2) the system control target is determined as follows:
selecting the system controlled output vector z (t) ═ yc ψc]TCx (t), wherein
Further determining the system control target as | z (t) | non-woven calculation2＜γ||ω(t)||2；
3) Establishing unmanned vehicle automatic steering closed loop time delay system
When the system is in the time interval tkh+τk,tk+1h+τk+1) In the run-up operation, the time interval is divided into the following series of subintervals gamma1，Γ2，…，Γδ：
Where δ satisfies the condition δ ═ min { j | tkh+τk+jh≥tk+1h+τk+1}. Further, the following two piecewise functions are defined:
based on the above relationship, the event-triggered controller can be described as:
wherein the time lag tau (t) satisfies 0 ≦ tau1≤τ(t)≤τ2Wherein, the upper and lower bounds of the time lag are respectively:
τ1＝min{τk1, 2. } and τ2＝h+max{τk|k＝1,2,...}。
Further, the closed loop system for automatic steering control of the unmanned vehicle can be described as follows:
4) jointly solving the trigger matrix Ω and the controller gain matrix K, which can be obtained by solving the following set of linear matrix inequalities:
it is worth pointing out that the above conditions can ensure that the closed loop system satisfies asymptotic stability and desired performance | | z (t) | survival2＜γ||ω(t)||2. Further, the calculation formula of the controller gain matrix K is: k is VL-1. In the formula: A. b is1、B2And C refers to the system matrix, the interference input matrix, the control input matrix and the controlled output matrix respectively as described above, γ is a positive number given by the user according to actual needs, L, Q1、Q2、R1、R2Omega is a positive definite matrix of suitable dimensions, V is a general matrix of suitable dimensions, mu is a threshold parameter given by the user according to the actual needs and satisfies 0 ≦ mu < 1, tau1And τ2Respectively representing the lower and upper bounds, τ, of the system skew12＝τ2-τ1；
(4) On-line control of automatic steering behavior of unmanned vehicle
The obtained event trigger controller is used for carrying out on-line control on the automatic steering behavior of the unmanned vehicle, so that the unmanned vehicle system simultaneously meets the asymptotic stability and the expected performance requirements | | z (t) |2＜γ||ω(t)||2Wherein γ is an inhibition indicator reference value.
In the embodiment, an event trigger communication mechanism is introduced into the automatic steering control system of the unmanned vehicle automatic steering control method based on event trigger. The designed event trigger controller can effectively reduce unnecessary signal exchange and save communication and computing resources while ensuring the driving stability and the path tracking performance of the system.
The main technical performance indexes and equipment parameters of the automatic steering control system of the unmanned vehicle used in the embodiment are as follows: m is 1500kg, Iz＝2400kg·m2，Cf＝80000N/rad，Cr＝84000N/rad，lf＝1.5m，lr＝1.3m，vx＝15m/s，τ1＝0.003，τ20.019 and 0.3. Gamma is a reference value of the suppression index of the closed-loop system for the external interference obtained by adopting the event trigger controller, and the minimum value of gamma which meets the inequality condition in the example is gammamin3087.6. The user can randomly select the suppression index reference value gamma which is not less than the value according to actual needs to solve the corresponding path tracking controller.
In this example, a minimum suppression index reference value, that is, γ is 3087.6, and the trigger matrix and the controller gain obtained by joint design are respectively:
K＝[0.003 -0.0141 -0.0021 -0.1253]。
fig. 2 illustrates an embodiment of the present invention relating to a sampled data transmission interval diagram, and it is worth mentioning that only 1.47% of the communication resources are used for the on-line calculation and update of the controller, and 98.53% of the communication resources are saved. Fig. 3 depicts a simulation effect diagram relating to unmanned vehicle path tracking according to an embodiment of the present invention, showing that the proposed controller can track a desired path with high accuracy. Fig. 4 shows a simulation showing an example of the invention relating to the front wheel auto-steering angle which may be generated by an active motor and applied to an auto-steering system. Fig. 2-4 show that the provided controller can not only ensure that the unmanned vehicle can autonomously run according to a desired path, but also save a large amount of communication resources, further save computing resources, and further meet the development requirements of intellectualization and unmanned vehicle.
The above embodiments are merely illustrative of the technical ideas and features of the present invention and are intended to enable those skilled in the art to better understand and implement the same. The protection scope of the present invention is not limited to the above embodiments, and all equivalent changes and modifications made according to the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.
Claims (5)
1. An automatic steering control method of an unmanned vehicle based on event triggering is characterized by comprising the following steps:
step one, establishing a mathematical model of an automatic steering system of the unmanned vehicle, which specifically comprises the following steps:
the unmanned vehicle dynamics model is established through the law of mechanics as follows:
wherein: fyf＝Cfαf，Fyr＝Crαr，
αfRepresenting a front wheel side slip angle; alpha is alpharRepresenting the rear wheel side deflection angle, m refers to the mass of the unmanned vehicle; deltafThe steering angle of the driving front wheel is indicated; v. ofyAnd vxRespectively the transverse speed and the longitudinal speed of the unmanned vehicle;
and
respectively indicating the yaw angular velocity and the yaw angular acceleration of the unmanned vehicle; beta refers to the centroid slip angle of the unmanned vehicle, which can be approximated as vyAnd vxThe ratio of (A) to (B); i iszThe yaw moment of the unmanned vehicle is referred to; lfAnd lrThe distances from the center of mass of the unmanned vehicle to the front axle and the rear axle are respectively indicated; fyfIndicating a front wheel side biasing force of the unmanned vehicle; fyrIndicating a rear wheel side biasing force of the unmanned vehicle; cfAnd CrRespectively means the cornering stiffness of the front and rear tires of the unmanned vehicle;
the positional relationship of the unmanned vehicle and the desired path may be described as:
wherein, ycThe lateral position deviation of the unmanned vehicle and the expected path is indicated; psicThe course angle error which represents the current position of the unmanned vehicle is the actual yaw angle psi and the expected path course angle psi of the unmanned vehicledA difference of (i.e.. psi)c＝ψ-ψd；vyAnd vxRespectively the transverse speed and the longitudinal speed of the unmanned vehicle;
representing the yaw rate of the unmanned vehicle; ρ (σ) represents the curvature of the desired path;
selecting the lateral velocity v of an unmanned vehicleyYaw angular velocity
Lateral position deviation ycAnd heading angle error psicAs the state variables of the control system model, the unmanned vehicle automatic steering control system model can be obtained as follows:
in the formula (I), the compound is shown in the specification,
ω(t)＝ρ(σ)，u(t)＝δf，
where x (t), ω (t), and u (t) are the state vector, interference input, and control input, respectively, of the system, A, B1And B2Respectively corresponding system matrix, interference input matrix and control input matrix;
step two, constructing a communication mechanism based on event triggering;
step three, jointly designing an event trigger and a controller;
and step four, performing on-line control on the automatic steering behavior of the unmanned vehicle.
2. The method for controlling automatic steering of the unmanned vehicle based on event triggering according to claim 1, is characterized in that a communication mechanism based on event triggering is constructed, and the triggering conditions are as follows:
[x(tkh+nh)-x(tkh)]TΩ[x(tkh+nh)-x(tkh)]≥μxT(tkh)Ωx(tkh)
n＝1，2，...，k＝1，2，...
wherein h represents a sampling period; t is tkh and x (t)kh) Respectively representing the latest triggered time and the corresponding trigger state quantity; t is tkh + nh and x (t)kh + nh) respectively represent the current sampling moment and the corresponding sampling state quantity; omegaIs a positive definite weighting matrix and needs to be designed jointly with the controller; mu is a threshold parameter given by a user according to actual needs, and satisfies 0 ≦ mu < 1.
3. The method for controlling automatic steering of unmanned vehicle based on event trigger according to claim 1, wherein the event trigger and the controller are jointly designed, comprising
1) The event trigger controller is defined in the form:
in the formula, tkh denotes the most recent time triggered, tk+1h denotes the next triggered time, x (t)kh) Representing the most recently triggered state quantity, K representing the gain matrix of the controller, τkAnd τk+1Respectively representing data packets x (t)kh) And x (t)k+1h) Time delay of transmission to the controller;
2) the system control target is determined as follows:
selecting the system controlled output vector z (t) ═ yc ψc]TCx (t), wherein
Further determining the system control target as | z (t) | non-woven calculation2＜γ||ω(t)||2；
3) Establishing unmanned vehicle automatic steering closed loop time delay system
When the system is in the time interval tkh+τk，tk+1h+τk+1) In the up-running process, the time interval is divided into the following series of subintervals1，Г2，...，Гδ：
Wherein δ satisfies the condition δ＝min{j|tkh+τk+jh≥tk+1h+τk+1}; further, the following two piecewise functions are defined:
the event-triggered controller may be described as:
wherein the time lag tau (t) satisfies 0 ≦ tau1≤τ(t)≤τ2Wherein, the upper and lower bounds of the time lag are respectively:
τ1＝min{τk1, 2. } and τ2＝h+max{τk|k＝1，2，...}；
The closed loop system for automatic steering control of the unmanned vehicle can be described as follows:
4) jointly solving the trigger matrix Ω and the controller gain matrix K, which can be obtained by solving the following set of linear matrix inequalities:
it is worth pointing out that the above conditions can ensure that the closed loop system satisfies asymptotic stability and desired performance | | z (t) | survival2＜γ||ω(t)||2Further, the calculation formula of the controller gain matrix K is: k is VL-1(ii) a In the formula: A. b is1、B2And C refers to the system matrix, the interference input matrix, the control input matrix and the controlled output matrix respectively as described above, γ is a positive number given by the user according to actual needs, L, Q1、Q2、R1、R2Omega is a positive definite matrix of suitable dimensions, V is a general matrix of suitable dimensions, mu is a threshold parameter given by the user according to the actual needs and satisfies 0 ≦ mu < 1, tau1And τ2Respectively representing the lower and upper bounds, τ, of the system skew12＝τ2-τ1。
4. The method for controlling automatic steering of the unmanned vehicle based on event triggering according to claim 1, wherein the obtained event triggering controller is used for performing online control of the automatic steering behavior of the unmanned vehicle, so that the unmanned vehicle system simultaneously meets asymptotic stability and expected performance requirements | | z (t) |2＜γ||ω(t)||2Wherein γ is an inhibition indicator reference value.
5. An automatic steering control system of an unmanned vehicle, which is an automatic steering control method of the unmanned vehicle, comprises a memory and a processor, wherein the memory stores a computer program and is characterized in that; the processor, when executing the computer program, realizes the method steps of any of claims 1-4.
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