CN113221349A - Vehicle distance sliding mode control algorithm and system suitable for intelligent driving vehicle - Google Patents
Vehicle distance sliding mode control algorithm and system suitable for intelligent driving vehicle Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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Abstract
The invention discloses a sliding mode control algorithm and a sliding mode control system for a vehicle distance, which are suitable for an intelligent driving vehicle and technically characterized by comprising the following steps of: simulating according to the current vehicle and the current vehicle in front, and establishing a dynamic model for describing the longitudinal motion characteristic of the current vehicle; setting a slip form surface equation, and enabling points outside the slip form surface to move to the slip form surface; setting an index approach rate to enable an initial point at any position to finally approach to the slip form surface; solving a control rate equation according to the dynamic model, the sliding mode surface equation and the index approach rate; the method comprises the steps of smoothing a control rate equation, adding a feedforward term, establishing a sliding mode surface by establishing a vehicle dynamics control equation, and finally obtaining ideal acceleration output on the basis of an exponential approximation law, wherein the feedforward term is the smooth output longitudinal acceleration of the current front vehicle acceleration, so that the real-time performance and the precision of longitudinal vehicle distance control are guaranteed.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle spacing sliding mode control algorithm and system suitable for an intelligent driving vehicle.
Background
Intelligent driving is an important field of future automobile industry development, and is widely concerned by domestic and foreign scientific research institutions, and the safety and comfort of driving are determined by the longitudinal distance control due to the control performance of the longitudinal distance control, so that strict algorithm type selection and simulation verification are required in the design and development process. Because the communication among the automobile modules has pure delay, time lag and coupling characteristics, and meanwhile, the automobile dynamics and kinematics models also have the characteristics of complicated parameters and nonlinearity, the interference caused by various external environments needs to be comprehensively considered in the control design process.
In the field of traditional automatic driving, various control algorithms exist, such as PID control, MPC control, LQR control, sliding mode control and the like. The sliding mode control is one of linear control methods, and has the advantages of purposefully changing the system structure along with the change of deviation in the control process, ensuring that the system can finally reach and keep a system track on a preset sliding surface within a limited time under the action of a controller, so that a closed-loop system stably runs on the sliding surface, and the characteristic properties of the sliding mode are expressed.
Control methods for controlling a vehicle using sliding modes already exist in the prior art, but the control methods in the prior art are generally used for controlling the transverse distance or the longitudinal distance of the vehicle independently. The control of the longitudinal distance which can be inquired in the prior art is generally performed, the control output is the opening degree of an accelerator or the brake pressure and is not in accordance with the traditional control output framework; or in the prior art, the expected throttle opening or braking torque is finally calculated by utilizing a quick terminal sliding mode principle, but the final torque output in the traditional automobile industry generally needs to be arbitrated by an ESP (electronic stability program) and finally is determined to be sent to a power system or a braking system, so that the development framework of an actual intelligent driving system is not very consistent.
Based on the above technical requirements, a control method for longitudinal vehicle distance limitation by using acceleration as output to the ESP/ESC, and finally converting the output into torque to the power system or the brake system is needed.
Disclosure of Invention
The invention aims to provide a sliding mode control algorithm and a sliding mode control system for the distance between vehicles, which are suitable for intelligent driving vehicles.
In order to achieve the purpose, the invention provides the following technical scheme: a vehicle distance sliding mode control algorithm suitable for an intelligent driving vehicle comprises the following steps:
simulating according to the current vehicle and the current vehicle in front, and establishing a dynamic model for describing the longitudinal motion characteristic of the current vehicle;
setting a slip form surface equation, and enabling points outside the slip form surface to move to the slip form surface;
setting an index approach rate to enable an initial point at any position to finally approach to the slip form surface;
solving a control rate equation according to the dynamic model, the sliding mode surface equation and the index approach rate;
and smoothing the control rate equation and smoothly outputting the longitudinal acceleration.
The application is further configured to further include adding a feed forward term, wherein the feed forward term is a current forward vehicle acceleration.
The present application is further configured such that the kinetic model is:
wherein the content of the first and second substances,
Ractrepresenting the actual distance between the current vehicle and the current preceding vehicle;
Rdesrepresenting the ideal distance between the current vehicle and the current front vehicle;
TGaprepresenting the safe time distance between the current vehicle and the current vehicle in front;
Vleadrepresenting the current vehicle speed in front;
x1representing the difference between the actual distance between the current vehicle and the current vehicle ahead and the ideal vehicle distance;
x2representing the relative speed of the current vehicle and the current vehicle ahead;
u represents the ideal following acceleration of the current vehicle.
The present application further provides that the sliding-mode surface equation is:
s＝k1x1+k2x2+k3∫x1dt (5), wherein k1、k2、k3The parameters are set according to actual conditions.
The application is further configured such that the addition of the feed forward term is:
The application also provides a sliding mode control system for the vehicle distance suitable for the intelligent driving vehicle, which comprises a sliding mode controller module and an ESP module, wherein the sliding mode controller module is configured to receive the running data of the current vehicle and the current front vehicle, apply the sliding mode control algorithm for the vehicle distance suitable for the intelligent driving vehicle according to the claims 1-3 and output the longitudinal acceleration;
the ESP module is configured to receive the longitudinal acceleration output by the sliding mode controller module and to send a torque request to the powertrain or brake system of the present vehicle in real time.
The present application is further configured such that the driving data includes a preceding vehicle speed, a current vehicle speed, an ideal vehicle distance, an actual distance, and a current preceding vehicle acceleration.
The present application also provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the aforementioned method when executed.
The present application also provides an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the aforementioned method.
Compared with the prior art, the invention has the following beneficial effects:
(1) the acceleration is used as output to an ESP/ESC, and is finally converted into torque output to be sent to a power system or a braking system for longitudinal distance limitation;
(2) the sliding mode design has no relation with object parameters and external disturbance, is insensitive to object parameter change and disturbance, does not need system identification and physical realization, and ensures that the control response is quick;
(3) by establishing a vehicle dynamics control equation, establishing a sliding mode surface, and finally obtaining ideal acceleration output based on an exponential approximation law, the real-time performance and the precision of longitudinal vehicle distance control are ensured.
Drawings
FIG. 1 is a flow chart of the method steps of the present application;
FIG. 2 is a schematic view of the sliding mode control of the longitudinal spacing of the vehicle according to the present application;
FIG. 3 is a control schematic of the present application;
fig. 4 is a schematic diagram of simulation output in the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, a sliding mode control algorithm for vehicle distance suitable for an intelligent driving vehicle is mainly applied to a scene of keeping distance between intelligent driving and vehicle following, and acceleration output is controlled through the sliding mode control algorithm, so that the purpose of keeping safe vehicle following distance is finally achieved. The method comprises the following steps:
according to the simulation of the current vehicle and the current preceding vehicle, the present embodiment adopts an MATLAB simulation method, and may also adopt other simulation methods applying the present principle, to establish a dynamic model describing the longitudinal motion characteristics of the current vehicle, where the dynamic model is:
wherein the content of the first and second substances,
Ractrepresenting the actual distance between the current vehicle and the current preceding vehicle;
Rdesrepresenting the ideal distance between the current vehicle and the current front vehicle;
TGaprepresenting the safe time distance between the current vehicle and the current vehicle in front;
Vleadrepresenting the current vehicle speed in front;
x1representing the difference between the actual distance between the current vehicle and the current vehicle ahead and the ideal vehicle distance;
x2representing the relative speed of the current vehicle and the current vehicle ahead;
u represents the ideal following acceleration of the current vehicle.
Setting a sliding mode surface equation, enabling a point positioned outside a sliding mode surface to move to the sliding mode surface, wherein the sliding mode surface equation is as follows:
s＝k1x1+k2x2+k3∫x1dt (5), wherein k1、k2、k3The parameters are set according to actual conditions.
Setting an index approach rate to enable an initial point of any position to finally approach to the slip form surface as follows:
and then smoothing the control rate equation, and smoothly outputting the longitudinal acceleration as follows:
considering the dynamic state of the current front vehicle, a feedforward term is particularly added, wherein the feedforward term is the acceleration of the current front vehicle, and the following is included:
wherein a isleadIs the front vehicle acceleration.
As shown in fig. 3, simulation output is shown by the above method, and the term sliding mode surface is a design equation with system state parameters tending to zero; the approach law is a dynamic law that a system approaches to a sliding mode surface from any initial state. The sliding mode control has some characteristics, such as absolute robustness to matching interference, order reduction characteristics and the like, so that the sliding mode control becomes an important branch of variable structure control. Through the sliding mode control of the embodiment, a vehicle dynamics control equation is established, a sliding mode surface is established, ideal acceleration output is finally obtained on the basis of an exponential approximation law, and the real-time performance and the precision of longitudinal vehicle distance control are guaranteed. The method has the advantages that the method has no relation with the object parameters and external disturbance during the design of the sliding mode, is insensitive to the change and disturbance of the object parameters, does not need system identification and physical realization, and ensures that the control response is quick.
The exponential approaching law is used as the approaching law, so that the approaching speed is gradually reduced from a larger value to zero in the exponential approaching, the approaching time is shortened, and the speed of a moving point reaching a switching surface is small. The simple index approach, the approach of the motion point to the switching surface is a gradual process, the arrival within a limited time cannot be guaranteed, and the sliding mode does not exist on the switching surface, so that a constant-speed approach term needs to be added
Making the approach velocity e, rather than zero, ensures a finite time to arrive when s is close to zero.
The present invention also refers to the acceleration of the front vehicle as a feed forward term, since frontThe sliding mode control does not consider that the system is a dynamic control system, and the feedforward term needs to be calibrated in order to adjust the influence of the feedforward term on the control system, so that the coefficient k is given4。
As shown in fig. 4, the present application further provides a sliding mode control system for a vehicle distance suitable for a smart driving vehicle, which includes a sliding mode controller module and an electronic Stability program (esp) module, where the sliding mode controller module is configured to receive driving data of a current vehicle and a current preceding vehicle, apply the aforementioned sliding mode control algorithm for a vehicle distance suitable for a smart driving vehicle, and output a longitudinal acceleration; the body electronics stability program ESP module is configured to receive the longitudinal acceleration output by the sliding mode controller module and send a torque request to the powertrain or brake system of the present vehicle in real time. The driving data comprises the speed of the front vehicle, the speed of the current vehicle, the ideal distance, the actual distance and the acceleration of the current front vehicle. The system applied in this embodiment is a vehicle Control unit, and is used for controlling the distance between the intelligent driving and the vehicle, and mainly relates to an intelligent driving ecu (electronic Control unit) electronic Control unit, a vehicle electronic Stability program ESP/vehicle electronic Stability Control esc (electronic Stability controller) module, and a related Control execution mechanism.
The sliding mode control is one of nonlinear control methods, in the control process, the system structure is purposefully changed along with the change of deviation, and the system is ensured to reach and keep a system track on a preset sliding surface within a limited time under the action of a controller, so that a closed-loop system stably runs on the sliding surface, and the characteristic properties of the sliding mode are expressed.
The present application also provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the aforementioned method when executed.
The present application also provides an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the aforementioned method.
Alternatively, in this embodiment, a person skilled in the art may understand that all or part of the steps in the methods of the foregoing embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the method described in the embodiments of the present application.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (9)
1. A vehicle distance sliding mode control algorithm suitable for an intelligent driving vehicle is characterized by comprising the following steps:
simulating according to the current vehicle and the current vehicle in front, and establishing a dynamic model for describing the longitudinal motion characteristic of the current vehicle;
setting a slip form surface equation, and enabling points outside the slip form surface to move to the slip form surface;
setting an index approach rate to enable an initial point at any position to finally approach to the slip form surface;
solving a control rate equation according to the dynamic model, the sliding mode surface equation and the index approach rate;
and smoothing the control rate equation and smoothly outputting the longitudinal acceleration.
2. The sliding-mode control algorithm for the distance between vehicles suitable for the intelligent driving vehicle as claimed in claim 1, further comprising adding a feedforward term, wherein the feedforward term is the current front vehicle acceleration.
3. The sliding-mode control algorithm for the vehicle distance suitable for the intelligent driving vehicle as claimed in claim 2, wherein the dynamic model is as follows:
wherein the content of the first and second substances,
Ractrepresenting the actual distance between the current vehicle and the current preceding vehicle;
Rdesrepresenting the ideal distance between the current vehicle and the current front vehicle;
TGaprepresenting the safe time distance between the current vehicle and the current vehicle in front;
Vleadrepresenting the current vehicle speed in front;
x1representing the difference between the actual distance between the current vehicle and the current vehicle ahead and the ideal vehicle distance;
x2representing the relative speed of the current vehicle and the current vehicle ahead;
u represents the ideal following acceleration of the current vehicle.
4. The sliding-mode control algorithm for the vehicle distance suitable for the intelligent driving vehicle as claimed in claim 3, wherein the sliding-mode surface equation is as follows:
s＝k1x1+k2x2+k3∫×1dt (5), wherein k1、k2、k3The parameters are set according to actual conditions.
5. The sliding-mode control algorithm for the distance between vehicles suitable for the intelligent driving vehicle as claimed in claim 4, wherein the added feed-forward term is:
6. A sliding mode control system for the distance between vehicles suitable for intelligent driving vehicles, which is characterized by comprising a sliding mode controller module and an Electronic Stability Program (ESP) module for vehicle bodies, wherein the sliding mode controller module is configured to receive the driving data of the current vehicle and the current front vehicle, apply the sliding mode control algorithm for the distance between vehicles suitable for intelligent driving vehicles according to claims 1-3 and output the longitudinal acceleration;
the body electronic stability program ESP module is configured to receive the longitudinal acceleration output by the sliding mode controller module and send a torque request to the powertrain or brake system of the present vehicle in real time.
7. The sliding mode control system for the vehicle distance suitable for the intelligent driving vehicle as claimed in claim 6, wherein the driving data comprises a vehicle speed of a front vehicle, a current vehicle speed, an ideal vehicle distance, an actual distance and a current acceleration of the front vehicle.
8. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 5 when executed.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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| CN202110505108.6A CN113221349B (en) | 2021-05-10 | Inter-vehicle distance sliding mode control algorithm and system suitable for intelligent driving vehicle |
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| CN202110505108.6A CN113221349B (en) | 2021-05-10 | Inter-vehicle distance sliding mode control algorithm and system suitable for intelligent driving vehicle |
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