CN113212431A - Tracking control method, device, equipment and storage medium - Google Patents

Tracking control method, device, equipment and storage medium Download PDF

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Publication number
CN113212431A
CN113212431A CN202110642318.XA CN202110642318A CN113212431A CN 113212431 A CN113212431 A CN 113212431A CN 202110642318 A CN202110642318 A CN 202110642318A CN 113212431 A CN113212431 A CN 113212431A
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current
vehicle
target
state information
tracking
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周枫
刘斌
吴杭哲
刘枫
文琼
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FAW Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a tracking control method, a device, equipment and a storage medium. The method comprises the following steps: obtaining current state information and a dynamic vehicle model of a vehicle, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed; inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point; according to the technical scheme of the invention, the vehicle is tracked and controlled under the condition of considering the fault of partial failure of an actuator (steering wheel) and limited frequency interference which may occur in the transverse control process.

Description

Tracking control method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a tracking control method, a tracking control device, tracking control equipment and a storage medium.
Background
The tracking control of the unmanned vehicle is divided into a longitudinal control and a transverse control, wherein the longitudinal control mainly refers to the control of the vehicle speed. The lateral control means that the vehicle can track a given path by controlling the steering wheel angle to control the front wheel slip angle of the vehicle. The current lateral tracking control algorithms do not take into account possible fault situations that may occur when the vehicle is running. For example, a control strategy of a vehicle when a partial failure fault occurs in operation, and how to design a controller to control the technology of the vehicle to continuously and safely operate to a specified area for maintenance under the condition of the fault. On the other hand, the frequency characteristics of the interference are not taken into account.
Disclosure of Invention
Embodiments of the present invention provide a tracking control method, apparatus, device, and storage medium, so as to perform tracking control on a vehicle in consideration of a failure that an actuator (steering wheel) may partially fail and limited frequency interference that may occur during a lateral control process.
In a first aspect, an embodiment of the present invention provides a tracking control method, including:
obtaining current state information and a dynamic vehicle model of a vehicle, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed;
inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point;
and tracking and controlling the vehicle according to the target state information.
In a second aspect, an embodiment of the present invention further provides a tracking control apparatus, where the apparatus includes:
an obtaining module, configured to obtain current state information of a vehicle and a dynamic vehicle model, where the current state information includes: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed;
the determining module is used for inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into the dynamic vehicle model to obtain the target state information of the vehicle at the pre-aiming point;
and the control module is used for tracking and controlling the vehicle according to the target state information.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method according to any one of the embodiments of the present invention.
The embodiment of the invention obtains the current state information and the dynamic vehicle model of the vehicle, wherein the current state information comprises the following components: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed; inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point; and tracking and controlling the vehicle according to the target state information so as to realize tracking and controlling the vehicle under the condition of considering the fault of partial failure of an actuator (steering wheel) and limited frequency interference which may occur in the transverse control process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a tracking control method according to a first embodiment of the present invention;
FIG. 1a is a diagram of a vehicle path tracking model according to a first embodiment of the present invention;
FIG. 1b is a diagram of a preview point model in accordance with a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tracking control apparatus according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a tracking control method according to an embodiment of the present invention, where this embodiment is applicable to a tracking control situation, and the method may be executed by a tracking control apparatus according to an embodiment of the present invention, where the apparatus may be implemented in a software and/or hardware manner, as shown in fig. 1, the method specifically includes the following steps:
s110, obtaining current state information and a dynamic vehicle model of the vehicle, wherein the current state information comprises: the current vehicle speed, the current steering wheel angle, the target time, the lateral distance between the current vehicle center of gravity and the target path, the current heading angle error, the current slip angle, and the current angular velocity.
The target time may be a preset time, or may be a target time determined according to the current vehicle speed, which is not limited in this embodiment of the present invention.
Wherein the dynamic vehicle model may be:
Figure BDA0003108450190000041
the dynamic vehicle model may also be:
Figure BDA0003108450190000042
that is, the dynamic vehicle model under the failure of the actuator of the vehicle, which is not limited in this embodiment of the present invention.
And S120, inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain the target state information of the vehicle at the pre-aiming point.
For example, the target state information of the vehicle at the preview point may be obtained by inputting a current vehicle speed, a current steering wheel angle, a target time, a lateral distance between a current center of gravity of the vehicle and a target path, a current direction angle error, a current slip angle, and a current angular velocity
Figure BDA0003108450190000051
And obtaining the target state information of the vehicle at the pre-aiming point. The target state information of the vehicle at the pre-aiming point can be obtained by inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed
Figure BDA0003108450190000052
And obtaining the target state information of the vehicle at the pre-aiming point.
And S130, tracking and controlling the vehicle according to the target state information.
For example, the tracking control of the vehicle according to the target state information may be a pre-established tracking controller; acquisition satisfies H∞A target positive definite matrix of the performance index; and tracking and controlling the vehicle according to the target state information, the target positive definite matrix and the tracking controller. The tracking control of the vehicle according to the target state information can also be realized by establishing a tracking controller in advance and performing tracking control on the vehicle according to the target state information and the tracking controller. The embodiments of the present invention are not limited in this regard.
Optionally, performing tracking control on the vehicle according to the target state information includes:
establishing a tracking controller;
acquisition satisfies H∞A target positive definite matrix of the performance index;
and tracking and controlling the vehicle according to the target state information, the target positive definite matrix and the tracking controller.
Optionally, the establishing a tracking controller includes:
the following tracking controllers are established:
Figure BDA0003108450190000053
wherein u (t) is δf，δfRepresenting the angle of rotation of the front wheels of the vehicle, x (t) ═ ey(t),eψ(t),β(t),r(t)]T，ey(t) is the lateral distance between the center of gravity of the vehicle and the target path, eψ(t) is the azimuth angle error, β (t) is the yaw angle, and r (t) is the angular velocity;
Figure BDA0003108450190000061
Γ is the target diagonal constant matrix,
Figure BDA0003108450190000062
m is the vehicle mass, IzIs the moment of inertia of the vehicle about the Z axis,/fDistance of the center of gravity of the vehicle from the front wheels, vxAs longitudinal speed of the vehicle, CfX is target state information for the front wheel cornering stiffness of the vehicle, and P is a value satisfying H∞A target positive definite matrix of performance indicators.
Optionally, obtaining satisfies H∞A target positive definite matrix of performance indicators comprising:
determining P satisfying the following formula as a target positive definite matrix:
Figure BDA0003108450190000063
wherein P and
Figure BDA0003108450190000064
is a positive definite matrix, P is a definite matrix satisfying H∞A target positive definite matrix of the performance indicators,
Figure BDA0003108450190000065
is a known scalar quantity of the analog signal,
Figure BDA0003108450190000066
j is an imaginary unit in the complex frequency domain, and Y is P-1，
Figure BDA0003108450190000067
He(G)＝G+G*，G＝AiY+BiW，
Figure BDA0003108450190000068
vyIs the lateral speed of the vehicle,
Figure BDA0003108450190000069
lrdistance of the center of gravity of the vehicle from the rear wheels, CrFor the vehicle rear wheel side cornering stiffness,
Figure BDA00031084501900000610
Figure BDA00031084501900000611
Figure BDA0003108450190000071
Figure BDA0003108450190000072
vxthe variation range is as follows:
Figure BDA0003108450190000073
Figure BDA0003108450190000074
Figure BDA0003108450190000075
W＝ρK1y and rho are failure factors,
Figure BDA0003108450190000076
Figure BDA0003108450190000077
i is an identity matrix and gamma is H∞Performance index.
Optionally, inputting the current vehicle speed, the current steering wheel angle, the target time, the lateral distance between the current vehicle center of gravity and the target path, the current direction angle error, the current slip angle, and the current angular velocity into the dynamic vehicle model, and obtaining the target state information of the vehicle at the pre-aiming point includes:
obtaining the target state information of the vehicle at the aiming point according to the following formula:
Figure BDA0003108450190000078
wherein d (t) is interference.
Optionally, inputting the current vehicle speed, the current steering wheel angle, the target time, the lateral distance between the current vehicle center of gravity and the target path, the current direction angle error, the current slip angle, and the current angular velocity into the dynamic vehicle model, and obtaining the target state information of the vehicle at the pre-aiming point includes:
obtaining the target state information of the vehicle at the aiming point according to the following formula:
Figure BDA0003108450190000081
wherein d (t) is interference.
The dynamic vehicle model provided by the implementation of the invention is used for calculating the vehicle state at the pre-aiming point, converting the vehicle state into an LPV (Linear Parameter-Varying) form and then solving the LMI subsequently; the state of the vehicle at the pre-aiming point is obtained according to the vehicle kinematics model and the vehicle state, and the finite frequency performance is analyzed, so that the finite frequency performance which can be achieved by the control method is shown; gives an adaptive H∞And a controller.
The 2-degree-of-freedom lateral dynamics vehicle model used in the embodiment of the invention is shown in formula (1), and the expression form is shown in FIG. 1 a;
Figure BDA0003108450190000082
wherein:
Figure BDA0003108450190000083
Figure BDA0003108450190000084
m represents the mass of the vehicle, IzRepresenting the moment of inertia of the vehicle about the Z axis, d2、d2、d3And d4Represents extra interference, beta represents slip angle, lfAnd lrRespectively representing the distance of the center of gravity of the vehicle from the front and rear wheels, as an intrinsic parameter of the vehicle, CfFor vehicle front wheel cornering stiffness, CrAs the cornering stiffness of the rear wheel side of the vehicle, as an intrinsic parameter of the tire, eyRepresenting the lateral distance between the vehicle's center of gravity and a given path,
Figure BDA0003108450190000085
representing vehicle heading
Figure BDA0003108450190000086
With a given course angle on the tracked path
Figure BDA0003108450190000087
The difference between, i.e. the direction angle error, wherein
Figure BDA0003108450190000088
r represents angular velocity, vxAnd vyRepresenting the longitudinal and transverse speed, delta, respectively, of the vehiclefRepresenting the vehicle front wheel turning angle;
defining the state variable as x (t) ═ ey(t),eψ(t),β(t),r(t)]TInput u (t) δf，d2(t)＝-ρ(σ)vxThen the interference d (t) ═ d1(t),d2(t),d3(t),d4(t)]TThe state space model for the form 2 degree of freedom lateral dynamics vehicle model of equation (2) below is available:
Figure BDA0003108450190000091
wherein:
Figure BDA0003108450190000092
due to vehicle longitudinal speed vxIs a variableTherefore, the formula (2) is a nonlinear system, the calculation of the nonlinear system is very complex, and the solution is difficult to solve in a specified time when the vehicle path tracking is controlledxThe variation range is shown in formula (3):
Figure BDA0003108450190000093
the scheduling variable of the 2-degree-of-freedom lateral dynamics vehicle model is defined as 1/vxAnd 1/vx 2Then equation (2) can be written as equation (4), and equation (4) is as follows:
Figure BDA0003108450190000094
wherein:
Figure BDA0003108450190000095
Figure BDA0003108450190000096
Figure BDA0003108450190000101
obtaining the state of the vehicle at the pre-aiming point according to the vehicle dynamic model and the vehicle state:
the preview point is substituted into the formula (2) according to the current state of the vehicle to obtain the state of the vehicle after a period of time, and the state is used for describing the state of the vehicle in the subsequent control, so that the time lag influence caused in the processes of perception, control, calculation and the like can be reduced, the foresight is realized, the control precision can be improved, the stability is improved, and the interference d (t) can be set to be 0 for simple calculation.
As shown in fig. 1b, the state of the pre-aiming point of the vehicle can be obtained by holding the vehicle speed and the steering wheel angle at the current values, taking the fixed time t, and substituting the fixed time t into the formula (2), wherein it should be noted that the distance between the pre-aiming point and the vehicle is not fixed because the vehicle state is different in different automatic driving states, and this method can better improve the control effect of the vehicle and reduce the time lag influence.
The mathematical description of the system in the event of an actuator failure of the vehicle then gives the limited frequency performance that the control can achieve.
The partial failure fault experienced by the vehicle has an actuator failure model as shown in equation (5):
uρ(t)＝ρu(t),ρ∈(0,1] (5)
where ρ represents a failure factor, equation (4) may yield equation (6) when a partial failure fault occurs:
Figure BDA0003108450190000111
the following assumptions, lemmas and definitions are given in the examples of the present invention:
assume that 1: when i ═ 1.., 4, { a } is usedi,Biρ is uniformly fully controllable.
Assume 2: rank [ B ] when i ═ 1iρ]＝rank[Bi]。
Definition 1: γ > 0 is a given positive number, and system (6) under zero initial conditions, if for any ε > 0, satisfies the inequality shown in equation (7):
Figure BDA0003108450190000112
the system satisfies H∞The performance index is less than gamma. In the formula (7), the first and second groups,
Figure BDA0003108450190000113
is a known scalar quantity of the analog signal,
Figure BDA0003108450190000114
and
Figure BDA0003108450190000115
is the fourier transform of the state quantity x (t) and the external disturbance d (t):
Figure BDA0003108450190000116
and
Figure BDA0003108450190000117
according to hypothesis 1, { Ai,Biρ } is calmable, the presence matrix K and the positive definite matrix P satisfy:
(Ai+BiK)*P+P(Ai+BiK)＜0,i＝1,...,4 (8)
further, from hypothesis 2, it can be seen that K is present1Satisfies the following formula:
(Ai+BiρK1)*P+P(Ai+BiρK1)＜0,i＝1,...,4 (9)
since the lower bound of ρ is unknown, to estimate K in equation (9)1Therefore, the embodiment of the invention designs the following controllers:
Figure BDA0003108450190000118
wherein the content of the first and second substances,
Figure BDA0003108450190000119
is for the parameter K1Is estimated. Then equation (6) can be rewritten as equation (11):
Figure BDA00031084501900001110
the main purpose of the embodiment of the present invention is to design a finite frequency domain adaptive H based on assumptions 1 and 2 and definition 1∞A controller to stabilize equation (6) and to take placeHaving better H than full frequency domain controller at partial failure∞Performance index.
The frequency-limited performance achieved by embodiments of the present invention is given directly here:
introduction 1: gamma > 0 is a given constant, defined
Figure BDA0003108450190000121
If positive definite matrices P and Q exist, the following equation is satisfied:
Figure BDA0003108450190000122
wherein Γ is a given diagonal constant matrix, and
Figure BDA0003108450190000123
Figure BDA0003108450190000124
the closed loop system (11) satisfies the following H∞Performance indexes are as follows:
Figure BDA0003108450190000125
the embodiment of the invention mainly designs a transverse tracking controller according to the theory 1, the controller form is the same as the formula (10), and the parameters in the transverse tracking controller
Figure BDA0003108450190000126
The following equation is obtained:
Figure BDA0003108450190000127
wherein Γ is a normal number, and P ═ Y-1Calculated from equation (15).
Theorem 1: given a scalar γ > 0, the closed loop system (14) satisfies the assumptions 1-2, if 1, 4, if there is a positive one, for any iGiven matrices P and Q satisfy equation (15), equation (11) is stable and satisfies finite frequency domain H∞Performance index equation (13).
Note: the vehicle parameters in the formula (15) are the vehicle parameters in the formula (4) at the preview point.
Figure BDA0003108450190000128
The embodiment of the invention is applied to an automatic driving transverse control system, and considers the limited frequency interference possibly generated in the transverse control process. And the possible partial failure faults of the actuators are considered, and the controller can still control the vehicle to continuously and safely run to a specified area for maintenance under the failure condition. The obtained limited-frequency fault-tolerant controller has better tracking performance than a fault-tolerant controller under the full frequency domain. According to the method, the vehicle state is the state at the preview point, the time lag influence of the system can be reduced, the control precision is improved, and the control stability is improved.
According to the technical scheme of the embodiment, the current state information and the dynamic vehicle model of the vehicle are acquired, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed; inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point; and tracking and controlling the vehicle according to the target state information so as to realize tracking and controlling the vehicle under the condition of considering the limited frequency interference which may occur in the transverse control process.
Example two
Fig. 2 is a schematic structural diagram of a tracking control apparatus according to a second embodiment of the present invention. The present embodiment is applicable to the case of tracking control, and the apparatus may be implemented in a software and/or hardware manner, and the apparatus may be integrated in any device providing a tracking control function, as shown in fig. 2, where the tracking control apparatus specifically includes: an acquisition module 210, a determination module 220, and a determination module 230.
The acquiring module is used for acquiring current state information and a dynamic vehicle model of a vehicle, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed;
the determining module is used for inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into the dynamic vehicle model to obtain the target state information of the vehicle at the pre-aiming point;
and the control module is used for tracking and controlling the vehicle according to the target state information.
Optionally, the control module is specifically configured to:
establishing a tracking controller;
acquisition satisfies H∞A target positive definite matrix of the performance index;
and tracking and controlling the vehicle according to the target state information, the target positive definite matrix and the tracking controller.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, the current state information and the dynamic vehicle model of the vehicle are acquired, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed; inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point; and tracking and controlling the vehicle according to the target state information so as to realize tracking and controlling the vehicle under the condition of considering the fault of partial failure of an actuator (steering wheel) and limited frequency interference which may occur in the transverse control process.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.
As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (a Compact disk-Read Only Memory (CD-ROM)), Digital Video disk (DVD-ROM), or other optical media may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the computer device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Moreover, computer device 12 may also communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN)) and/or a public Network (e.g., the Internet) via Network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the tracking control method provided by the embodiment of the present invention:
obtaining current state information and a dynamic vehicle model of a vehicle, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed;
inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point;
and tracking and controlling the vehicle according to the target state information.
Example four
A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the tracking control method provided in all the embodiments of the present invention of the present application:
obtaining current state information and a dynamic vehicle model of a vehicle, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed;
inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point;
and tracking and controlling the vehicle according to the target state information.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (Hyper Text Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A tracking control method, comprising:
obtaining current state information and a dynamic vehicle model of a vehicle, wherein the current state information comprises: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed;
inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into a dynamic vehicle model to obtain target state information of the vehicle at a pre-aiming point;
and tracking and controlling the vehicle according to the target state information.
2. The method of claim 1, wherein tracking control of a vehicle based on the target state information comprises:
establishing a tracking controller;
acquisition satisfies H∞A target positive definite matrix of the performance index;
and tracking and controlling the vehicle according to the target state information, the target positive definite matrix and the tracking controller.
3. The method of claim 2, wherein establishing a tracking controller comprises:
the following tracking controllers are established:
Figure FDA0003108450180000011
wherein u (t) is δf，δfRepresenting the angle of rotation of the front wheels of the vehicle, x (t) ═ ey(t),eψ(t),β(t),r(t)]T，ey(t) is the lateral distance between the center of gravity of the vehicle and the target path, eψ(t) is the azimuth angle error, β (t) is the yaw angle, and r (t) is the angular velocity;
Figure FDA0003108450180000012
Γ is the target diagonal constant matrix,
Figure FDA0003108450180000013
m is the vehicle mass, IzIs the moment of inertia of the vehicle about the Z axis,/fDistance of the center of gravity of the vehicle from the front wheels, vxAs longitudinal speed of the vehicle, CfX is target state information for the front wheel cornering stiffness of the vehicle, and P is a value satisfying H∞A target positive definite matrix of performance indicators.
4. The method of claim 2, wherein obtaining satisfies H∞A target positive definite matrix of performance indicators comprising:
determining P satisfying the following formula as a target positive definite matrix:
Figure FDA0003108450180000021
wherein P and
Figure FDA0003108450180000022
is a positive definite matrix, P is satisfiedH∞A target positive definite matrix of the performance indicators,
Figure FDA0003108450180000023
is a known scalar quantity of the analog signal,
Figure FDA0003108450180000024
j is an imaginary unit in the complex frequency domain, and Y is P-1，
Figure FDA0003108450180000025
He(G)＝G+G*，G＝AiY+BiW，
Figure FDA0003108450180000026
vyIs the lateral speed of the vehicle,
Figure FDA0003108450180000027
lrdistance of the center of gravity of the vehicle from the rear wheels, CrFor the vehicle rear wheel side cornering stiffness,
Figure FDA0003108450180000028
Figure FDA0003108450180000029
Figure FDA00031084501800000210
Figure FDA0003108450180000031
vxthe variation range is as follows:
Figure FDA0003108450180000032
Figure FDA0003108450180000033
W＝ρK1y and rho are failure factors,
Figure FDA0003108450180000034
Figure FDA0003108450180000035
i is an identity matrix and gamma is H∞Performance index.
5. The method of claim 4, wherein inputting the current vehicle speed, the current steering wheel angle, the target time, the lateral distance between the current vehicle center of gravity and the target path, the current heading angle error, the current slip angle, and the current angular velocity into the dynamic vehicle model to obtain the target state information for the vehicle at the pre-line point comprises:
obtaining the target state information of the vehicle at the aiming point according to the following formula:
Figure FDA0003108450180000036
wherein d (t) is interference.
6. The method of claim 4, wherein inputting the current vehicle speed, the current steering wheel angle, the target time, the lateral distance between the current vehicle center of gravity and the target path, the current heading angle error, the current slip angle, and the current angular velocity into the dynamic vehicle model to obtain the target state information for the vehicle at the pre-line point comprises:
obtaining the target state information of the vehicle at the aiming point according to the following formula:
Figure FDA0003108450180000041
wherein d (t) is interference.
7. A tracking control apparatus, characterized by comprising:
an obtaining module, configured to obtain current state information of a vehicle and a dynamic vehicle model, where the current state information includes: the method comprises the following steps of (1) obtaining a current vehicle speed, a current steering wheel angle, a target time, a transverse distance between a current vehicle gravity center and a target path, a current direction angle error, a current slip angle and a current angular speed;
the determining module is used for inputting the current vehicle speed, the current steering wheel angle, the target time, the transverse distance between the current vehicle gravity center and the target path, the current direction angle error, the current slip angle and the current angular speed into the dynamic vehicle model to obtain the target state information of the vehicle at the pre-aiming point;
and the control module is used for tracking and controlling the vehicle according to the target state information.
8. The apparatus of claim 7, wherein the control module is specifically configured to:
establishing a tracking controller;
acquisition satisfies H∞A target positive definite matrix of the performance index;
and tracking and controlling the vehicle according to the target state information, the target positive definite matrix and the tracking controller.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-6 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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