CN115973149A - Vehicle cruise control method and device, electronic equipment and storage medium - Google Patents
Vehicle cruise control method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN115973149A CN115973149A CN202310042672.8A CN202310042672A CN115973149A CN 115973149 A CN115973149 A CN 115973149A CN 202310042672 A CN202310042672 A CN 202310042672A CN 115973149 A CN115973149 A CN 115973149A
- Authority
- CN
- China
- Prior art keywords
- equation
- vehicle
- cruise
- control input
- feedback controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Controls For Constant Speed Travelling (AREA)
Abstract
The embodiment of the invention discloses a vehicle cruise control method and device, electronic equipment and a storage medium, and belongs to the technical field of vehicle engineering. The method mainly comprises the following steps: establishing a linear state space equation of a cruise system of the vehicle, the linear state space equation comprising state variables and a desired control input; according to a linear state space equation, a feedback controller of the cruise system is obtained by adopting a linear quadratic regulator optimal design method and utilizing a preset equation design; calculating a value of the expected control input according to the state variable and the expected control input by using a feedback controller; and performing cruise control on the vehicle according to the value of the desired control input. The method can avoid the system control deviation caused by possible errors of the dynamic model, and ensure the control accuracy of the cruise system.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle cruise control method and apparatus, an electronic device, and a storage medium.
Background
In order to avoid frequent occurrence of road traffic accidents and reduce personal and material losses caused by human factors, a driving safety system is developed. The active safety system can fundamentally prevent accidents from occurring. Different from the traditional constant-speed cruise system which only controls the vehicle to run at a constant speed, the vehicle provided with the self-adaptive cruise system can obtain the speed of the front vehicle in various ways, adjust the speed of the vehicle along with the change of the speed of the front vehicle, and simultaneously make the safety distance between the two vehicles change along with the self-adaptation of the speed of the vehicle, thereby being capable of adapting to changeable traffic scenes and working conditions.
The adaptive cruise systems of the prior art require calculation of the control input according to the dynamic model of the adaptive cruise system. However, errors exist in the dynamic model, and the errors cause control deviation of the system, so that the control accuracy of the adaptive cruise system is poor.
Disclosure of Invention
Embodiments of the present invention provide a vehicle cruise control method, an apparatus, an electronic device, and a storage medium, which can iteratively solve an optimal feedback control gain for control input according to input and output data of a cruise system without using a dynamic model of the cruise system, thereby avoiding system control deviation caused by possible errors in the dynamic model, and ensuring control accuracy.
In a first aspect, an embodiment of the present invention provides a vehicle cruise control method, including: establishing a linear state space equation of a cruise system of the vehicle, the linear state space equation comprising state variables and a desired control input; according to a linear state space equation, a feedback controller of the cruise system is obtained by adopting a linear quadratic regulator optimal design method and utilizing a preset equation design; calculating a value of the expected control input according to the state variable and the expected control input by using a feedback controller; and performing cruise control on the vehicle according to the value of the expected control input; the process of designing and obtaining the feedback controller of the cruise system by using the preset equation comprises the following steps: and (3) solving a preset equation on line by utilizing excitation control input and excitation state variable output obtained by exciting a cruise system of the vehicle in an iterative manner to obtain the feedback controller.
In a second aspect, an embodiment of the present invention provides a vehicle cruise control apparatus including:
a space equation establishing module for establishing a linear state space equation of a cruise system of a vehicle, the linear state space equation including state variables and desired control inputs; the feedback controller design module is used for designing and obtaining a feedback controller of the cruise system by using a linear quadratic regulator optimal design method and a Jacobov equation and a Riccati equation according to a linear state space equation; the control input value calculating module is used for calculating a value of the expected control input according to the state variable and the expected control input by using the feedback controller; the cruise control module is used for performing cruise control on the vehicle according to the value of the expected control input; the process of designing and obtaining the feedback controller of the cruise system by using the preset equation comprises the following steps: and (3) solving a preset equation on line by utilizing excitation control input and excitation state variable output obtained by exciting a cruise system of the vehicle in an iterative manner to obtain the feedback controller.
In a third aspect, embodiments of the present invention further provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the vehicle cruise control method according to any one of the embodiments of the present invention when executing the program.
In a fourth aspect, the embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the vehicle cruise control method according to any one of the embodiments of the present invention.
According to the vehicle cruise control method, the vehicle cruise control device, the electronic equipment and the storage medium, provided by the invention, the optimal feedback control gain of the control input can be iteratively solved only according to the input data and the output data of the cruise system without using a dynamic model of the cruise system, so that the system control deviation caused by possible errors of the dynamic model can be avoided, and the control accuracy of the cruise system is ensured.
Drawings
FIG. 1 is a schematic flow chart of a vehicle cruise control method according to an embodiment of the present invention;
FIG. 2 is another schematic flow diagram of a vehicle cruise control method according to an embodiment of the present invention;
FIG. 3 is another schematic flow chart diagram of a vehicle cruise control method according to an embodiment of the present invention;
FIG. 4 is another schematic flow chart of a vehicle cruise control method according to an embodiment of the present invention
FIG. 5 is a schematic diagram of a configuration of a cruise control of a vehicle according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the 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.
In order to avoid frequent occurrence of road traffic accidents and reduce personal and material losses caused by human factors, a driving safety system is developed. The active safety system can fundamentally prevent accidents from occurring. Different from the traditional constant-speed cruise system which only controls the running speed of the vehicle to be unchanged, the vehicle provided with the self-adaptive cruise system can obtain the speed of the vehicle ahead in various ways, the speed of the vehicle is adjusted along with the change of the speed of the vehicle ahead, and meanwhile, the safety distance between the two vehicles is changed along with the self-adaptation of the speed of the vehicle, so that the self-adaptive cruise system can adapt to changeable traffic scenes and working conditions.
The adaptive cruise systems of the prior art require calculation of the control input according to the dynamic model of the adaptive cruise system. However, errors exist in the dynamic model, and the errors cause control deviation of the system, so that the control accuracy of the adaptive cruise system is poor.
The invention provides a vehicle cruise control method, a vehicle cruise control device, electronic equipment and a storage medium, which can iteratively solve the optimal feedback control gain of control input according to input and output data of a cruise system without using a dynamic model of the cruise system, so that system control deviation caused by possible errors of the dynamic model can be avoided, and the control accuracy is ensured.
Fig. 1 is a schematic flow chart of a vehicle cruise control method according to an embodiment of the present invention, which may be implemented by a vehicle cruise control apparatus according to an embodiment of the present invention, and the apparatus may be implemented in software and/or hardware. In a specific embodiment, the apparatus may be integrated in an electronic device, which may be, for example, a computer, a server, or the like. The following embodiments will be described taking as an example the integration of the device in an electronic apparatus. Referring to fig. 1, the method may specifically include the following steps:
Optionally, the state variables include a distance difference variable between a desired inter-vehicle distance between the vehicle and a preceding vehicle followed by the vehicle and an actual inter-vehicle distance, a speed difference variable between the preceding vehicle and the vehicle, and an acceleration variable of the preceding vehicle relative to the vehicle.
Optionally, the process of establishing a linear state space equation of a cruise system of a vehicle includes: and establishing a linear state space equation according to a preset fixed headway.
Preferably, the above process of establishing a linear state space equation of a cruise system of a vehicle includes: and establishing the linear state space equation according to a preset fixed headway.
Specifically, the headway represents a time difference between the front ends of two vehicles passing through the same place, and can be generally calculated by dividing the headway distance between the two vehicles by the speed of the rear vehicle. The cruise control method in the prior art mostly adopts a strategy of fixing the distance between vehicles. When the vehicle speed changes, especially when the vehicle speed is high, a large potential safety hazard exists in the fixed inter-vehicle distance, and collision can be caused. Therefore, the embodiment of the invention adopts the safe distance strategy of fixed headway, can get rid of the dilemma of the fixed headway strategy and can adjust the safe distance in a self-adaptive manner according to the change of the driving working condition.
Specifically, the above process of establishing the linear state space equation of the cruise system of the vehicle may include the following processes:
let p be based on the longitudinal dynamics model of the vehicle i ，v i ，a i Representing the position, velocity and acceleration of the vehicle i above, the longitudinal vehicle dynamics model can therefore be described as:
wherein:
as engine input, function f i And g i The definition is as follows:
wherein, tau i To track the unknown delay constant at the desired acceleration, σ is the air density, Y i ,f di ,p mi And m i Respectively as follows: cross-sectional area, air drag coefficient, mechanical drag, and vehicle mass.
To linearize the acceleration equation in the above equation, the engine input is defined as follows:
u i for desired control input, ζ i For coefficients greater than 0, substituting into equation (1) yields:
unknown delay constant tau in tracking desired acceleration for different vehicles i May be different.
The expected inter-vehicle distance is calculated in the following manner:
wherein d is 0 The desired distance between the two vehicles from the time when the vehicle and the front vehicle are braked to the time when the vehicle stops, h i Is a constant headway.
To maintain cruise queue stability, typically h i And the actual distance between the vehicle i and the front vehicle is obtained as follows:
d i (t)＝p i-1 (t)-p i (t)-l i-1 (6)
wherein p is i-1 And l i-1 Respectively, vehicle i-1, i.e., the location of the leading vehicle and the length of the vehicle.
Thus, the pitch error δ between the actual pitch and the desired pitch can be found i Comprises the following steps:
the speed difference between the two vehicles can be expressed as:
Δv i (t)＝v i-1 (t)-v i (t) (8)
combining equations (4), (7), and (8), the following linear state space expression for the cruise system can be obtained:
wherein x is i ＝[Δh i ,Δv i ,a i ] T The distance difference variable, the speed difference variable, the acceleration variable and the coefficient matrix of the vehicle and the front vehicle are included:
it can be seen that because of the unknown delay constant tau in tracking the desired acceleration i So that A cannot be obtained i And B i Cannot obtain an accurate vehicle dynamics model, and is therefore no longer applicable to conventional model-based control methods that are highly dependent on model accuracy.
102, according to a linear state space equation, a feedback controller of the cruise system is designed by using a preset equation by adopting an optimal design method of a linear quadratic regulator, so that an expected control input value of the vehicle can be calculated according to the feedback controller and the state variable of the vehicle acquired in real time, and the cruise control of the vehicle is further performed.
Optionally, the preset equations may include lyapunov equations and licarit equations, and may also include other equations that are suitable for the feedback controller designed by the optimal design method of the linear quadratic regulator.
Optionally, the process of designing and obtaining the feedback controller of the cruise system by using the preset equation according to the linear state space equation by using the optimal design method of the linear quadratic regulator includes the following steps as shown in fig. 2:
1021, a quadratic objective function is established according to the linear state space equation using the state variables and the desired control input.
In particular, for the cruise system described above, the state variable x for the time t i A quadratic objective function can be defined as follows:
wherein u is i For desired control input, a weight matrix
Are all positive definite matrices.
1022, a control input function of the feedback controller is obtained by using the state variables and the expected control input based on the lyapunov stability theory, and a lyapunov equation is established by using a coefficient matrix of a linear state space equation, a weight matrix of a quadratic objective function and a feedback gain matrix of the control input function.
Specifically, the control input function of the feedback controller may be expressed as: u. of i ＝-K i x i In which K is i I.e. the feedback gain matrix of the control input function.
In particular, if the coefficient matrix A of the linear state space equation is i ,B i As known, for feedback controllers
K can be solved by establishing the following Lyapunov equation i Get the optimal feedback gain->
(A i -B i K i ) T P i +P i (A i -B i K i )+Q i +K i T R i K i ＝0 (12)
Wherein, P i ＝(P i ) T > 0, is a positive definite matrix.
1023, establishing a Riccati equation by using the coefficient matrix of the linear state space equation and the weight matrix of the quadratic objective function.
In particular, the method comprises the following steps of,p in formula (13) i The solution can be found by establishing the following ricacat equation:
an expression of the optimal feedback gain can be obtained:
and the feedback controller->
Is stable for an adaptive cruise system.
1024, using the excitation control input and the excitation state variable output obtained by the cruise system of the excitation vehicle, and performing online iterative solution on the Riccati equation and the Lyapunov equation to obtain an optimal feedback gain matrix, so that the quadratic objective function value obtained by calculation according to the optimal feedback matrix is minimum.
In particular, equation (13) for P i Non-linear, it is difficult to solve the equation efficiently, especially for multivariate systems, so the optimal approximate solution can be found by iterative algorithms.
Specifically, the feedback gain matrix is a matrix for stabilizing the cruise system.
Specifically, the above iterative solution process includes the step of solving for K i And P i And (4) iterating.
In the prior art, when iterative solution is carried out, K needs to be set firstly 0 ∈R m×n The real symmetric positive definite solution P of equation (12) is then solved for any feedback gain matrix that stabilizes the system k Then according to the expression of the optimal feedback gain
Updating the feedback gain matrix while ensuring the following properties:
A-BK is a Helvertz matrix; p * ≤P k+1 ≤P k ；lim k→∞ K k ＝K * ；lim k→∞ P k ＝P * The subscript k denotes the number of iterations.
We can see that the method is to solve P by Lyapunov equation iteration k Then successively update K k And further, the numerical value is approximate to the unique solution of the nonlinear equation. However, in each iteration, the system matrix parameter A needs to be accurately known i And B i The exact value of (c). And A is i And B i The precise value of (c) is not available, so the prior art causes control deviation.
The embodiment of the invention utilizes the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle to solve the Riccati equation and the Lyapunov equation on line in an iterative manner, thereby ensuring the control accuracy.
Optionally, the process of solving the rich-katio equation and the lyapunov equation in an online iterative manner by using the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle includes:
according to a linear state space equation, a Lyapunov equation and a control input function, taking the minimum value of a quadratic objective function and obtaining a quadratic objective function deformation equation after deformation, wherein the quadratic objective function deformation equation does not include an uncertain coefficient matrix of the linear state space equation; re-describing the quadratic form objective function deformation equation by using a kronecker product to obtain an iteration equation; and utilizing the iteration equation to carry out iteration solution on the Riccati equation and the Lyapunov equation.
Optionally, the above-mentioned deformation equation of the quadratic objective function does not include the uncertainty coefficient matrix a of the linear state space equation i And B i 。
Specifically, the above iterative equation may be obtained as follows:
the linear state space expression (9) of the cruise system is rewritten as:
wherein for j =1,2, \8230, the gain K is controlled ij Controlling gain for stability
Let P ij Is a unique solution of the lyapunov equation:
and, K i,j+1 Updating according to the following form:
then, according to equation (14), equation (15), equation (16), equation (11) is transformed into:
by converting equation (17) into a vector form by re-describing it using kronecker product, one can obtain:
a matrix is defined for data processing as follows:
through the conversion of equations (18) - (23), equation (17) can be rewritten as:
wherein the upper-case mark j represents the number of iterations for solving Lyapunov equation (15), and
it should be noted that the sufficiency that the above-mentioned transformation holds and there is a unique solution is that the matrix is
Column full rank, the conditions for judging column full rank are given as follows:
satisfying the above equation (26) for the data processing matrix, a unique solution to equation (24) is obtained
1025, obtaining a feedback controller according to the optimal feedback gain matrix.
In particular, the feedback matrix can be optimized according to
And control input function u i ＝-K i x i Feedback can be obtainedControlling device>
And 103, calculating a value of the expected control input according to the state variable and the expected control input by using the feedback controller, so that an accurate expected control input value can be obtained, and the cruise control of the vehicle according to the expected control input value is facilitated.
Optionally, using a feedback controller
Acquiring the running states of the vehicle and the front vehicle according to vehicle-mounted sensing or communication equipment, and calculating a state variable x according to the running states i Calculating the value u of the desired control input i 。
Specifically, the vehicle-mounted sensing device may include a vehicle-mounted radar, such as a sensing device like a laser radar. The communication device may include vehicle-to-vehicle communication (V2V).
Optionally, the running states of the vehicle and the preceding vehicle include current positions, current running speeds and current running accelerations of the vehicle and the preceding vehicle.
And 104, performing cruise control on the vehicle according to the value of the expected control input, and accurately controlling the vehicle according to the accurate expected control input value.
Specifically, the value of the desired control input may be a value of an acceleration of the vehicle. According to the value of the acceleration, the distance between the vehicle and the front vehicle followed by the vehicle can be adjusted by accelerating or decelerating the vehicle, so that the distance between the two vehicles accords with the fixed headway, and the safety of the vehicle in running is ensured.
According to the vehicle cruise control method provided by the embodiment of the invention, in the cruise control process, the dynamic model of the cruise system is not needed, and the optimal feedback control gain of the control input can be iteratively solved only according to the input and output data of the cruise system, so that the system control deviation caused by possible errors of the dynamic model can be avoided, and the control accuracy is ensured.
The vehicle cruise control method of the present invention is further described below.
In a preferred embodiment of the present invention, the process of solving the ricakatti equation and the lyapunov equation on-line iteratively using the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle includes: and adopting a fixed point strategy to solve the Jacobov equation and the Riccati equation in an online iterative manner by utilizing the excitation control input and the excitation state variable output obtained by the cruise system of the excited vehicle.
Specifically, as shown in fig. 3, the above-mentioned process of obtaining the optimal feedback gain matrix by using the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle using the fixed point strategy (Off-Policy) to iteratively solve the japonov equation and the li cati equation on line may include:
an initialization step: find K 0 So that it satisfies A-BK 0 Is a hervitz matrix and is given k =0.
An online data acquisition step: from t = t 1 =0 starting u 0 ＝-K i0 x + e as input to the control system, where K i0 E is the detection noise for the feedback gain matrix to stabilize the system. Computing matrices
Until the rank condition is satisfied, then let k =0.
Strategy evaluation and improvement steps: according to formula (27)
Iteration step: let k → k +1, repeat strategy evaluation and improvement steps until | P > 1 is satisfied ij -P i,j-1 | ≦ ε, where ε is a predefined small thresholdValue, to obtain an optimal feedback gain matrix
By adopting the fixed point strategy, the calculation burden can be effectively reduced, and the global optimal solution can be obtained.
In an alternative specific embodiment of the present invention, the process of solving the licarbatt equation and the lyapunov equation on-line iteratively using the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle includes a process including: and (3) adopting a continuity strategy to solve the Jaconov equation and the Riccati equation in an online iterative manner by utilizing the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle.
Specifically, as shown in fig. 4, the above-mentioned process of iteratively solving the japonov equation and the rican lifting equation On line by using the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle by using the continuity strategy (On-policy) may include:
an initialization step: find K i0 So that it satisfies A-BK 0 For a Helvelz matrix, let k =0, and t 0,1 ＝0。
An online data acquisition step: from t = t k,1 At the beginning, u 0 ＝-K i0 x + e is used as input of the control system to construct a data processing matrix
Until rank condition rank (Θ) is satisfied k )＝12。
Strategy evaluation and improvement steps: according to formula (27)
A stopping step: if k ≧ 1, | P is satisfied ij -P i,j-1 | ≦ ε, where ε is a predefined threshold small enough and greater than 0, stopping the detection noise as input, otherwise, k → k +1, repeating the online data acquisition step.
Specifically, online information is directly used in the continuous learning strategy for optimization, and local optimization is obtained through learning; the fixed point learning strategy distinguishes a target strategy from a behavior strategy, and the overall optimum is obtained through learning. Meanwhile, the continuous learning strategy disperses the calculation burden to different iteration time points at the cost of a longer learning process; fixed points can achieve faster learning by leveraging on-line measurements rather than doing more effort to compute at a single iteration point in time. Thus, the fixed point learning strategy is more efficient for an adaptive cruise system.
Fig. 5 is a block diagram of a vehicle cruise control apparatus according to an embodiment of the present invention, which is adapted to execute the vehicle cruise control method according to the embodiment of the present invention. As shown in fig. 5, the apparatus may specifically include:
the space equation establishing module 501 is configured to establish a linear state space equation of a cruise system of a vehicle, where the linear state space equation includes a state variable and an expected control input, and may establish a linear constraint relationship between the state variable and the expected control input, and further, a feedback controller of the cruise system is designed by using an optimal design method of a linear quadratic regulator according to the state variable and the expected control input in the linear constraint relationship.
And the feedback controller design module 502 is configured to design a feedback controller of the cruise system according to the linear state space equation by using the japunoff equation and the ricati equation by using the linear quadratic regulator optimal design method. The process for designing and obtaining the feedback controller of the cruise system by using the preset equation comprises the following steps: and (3) solving a preset equation on line by utilizing excitation control input and excitation state variable output obtained by exciting a cruise system of the vehicle in an iterative manner to obtain the feedback controller. This facilitates calculating a value of a desired control input of the vehicle based on the feedback controller and the state variables of the vehicle acquired in real time, thereby performing cruise control of the vehicle.
And a control input value calculating module 503, configured to calculate, by using the feedback controller, a value of the desired control input according to the state variable and the desired control input, so as to obtain an accurate desired control input value, which is beneficial to performing cruise control on the vehicle according to the desired control input value.
The cruise control module 504 is configured to perform cruise control on the vehicle according to the desired control input value, and may perform precise control on the vehicle according to a precise desired control input value.
According to the vehicle cruise device provided by the embodiment of the invention, in the cruise control process, the dynamic model of the cruise system is not needed, and the optimal feedback control gain of the control input can be iteratively solved only according to the input and output data of the cruise system, so that the system control deviation caused by possible errors of the dynamic model can be avoided, and the control accuracy is ensured.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the functional module, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
The embodiment of the invention further provides an electronic device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the vehicle cruise control method provided by any one of the embodiments is realized.
Embodiments of the present invention also provide a computer-readable medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a vehicle cruise control method provided in any of the above embodiments.
Referring now to FIG. 6, shown is a block diagram of a computer system 600 suitable for use with the electronic device implementing an embodiment of the present invention. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU) 601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. A driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that the computer program read out therefrom is mounted in the storage section 608 as necessary.
In particular, according to embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609 and/or installed from the removable medium 611. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 601.
It should be noted that the computer readable medium shown in the present invention can 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 of the computer readable storage medium may include, but are not limited to: 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 present invention, 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. In contrast, in the present invention, 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 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, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
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 invention. 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 or flowchart illustration, and combinations of blocks in the block diagrams 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 modules and/or units described in the embodiments of the present invention may be implemented by software, and may also be implemented by hardware. The described modules and/or units may also be provided in a processor, which may be described as: a processor includes a gradient spatial equation establishment module, a feedback controller design module, a control input value calculation module, and a cruise control module. Wherein the names of the modules do not in some cases constitute a limitation of the module itself.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not assembled into the device.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle cruise control method characterized by comprising:
establishing a linear state space equation of a cruise system of a vehicle, the linear state space equation comprising state variables and desired control inputs;
according to the linear state space equation, a feedback controller of the cruise system is obtained by adopting a linear quadratic regulator optimal design method and utilizing a preset equation design;
calculating to obtain a value of the expected control input according to the state variable by using the feedback controller; and
performing cruise control on the vehicle according to the value of the expected control input;
wherein the process of designing and obtaining the feedback controller of the cruise system using the preset equation comprises: and iteratively solving the preset equation on line by utilizing excitation control input and excitation state variable output obtained by exciting the cruise system of the vehicle so as to obtain the feedback controller.
2. The vehicle cruise control method according to claim 1, wherein the preset equations include a lyapunov equation and a ricacat equation;
the process of designing and obtaining the feedback controller of the cruise system by adopting the optimal design method of the linear quadratic regulator according to the linear state space equation and the preset equation comprises the following steps:
establishing a quadratic objective function by utilizing the state variables and the expected control input according to the linear state space equation;
obtaining a control input function of the feedback controller by using the state variable and the expected control input based on a Lyapunov stability theory, and establishing a Lyapunov equation by using a coefficient matrix of the linear state space equation, a weight matrix of the quadratic objective function and a feedback gain matrix of the control input function;
establishing a Riccati equation by using a coefficient matrix of the linear state space equation and a weight matrix of the quadratic objective function;
utilizing excitation control input and excitation state variable output obtained by exciting a cruise system of the vehicle, and carrying out online iterative solution on the Riccati equation and the Lyapunov equation to obtain an optimal feedback gain matrix, so that the quadratic objective function value obtained by calculation according to the optimal feedback matrix is minimum; and
and obtaining the feedback controller according to the optimal feedback gain matrix.
3. The vehicle cruise control method according to claim 2, wherein said process of iteratively solving said Riccati equation and said Lyapunov equation on-line using an excitation control input and an excitation state variable output obtained by exciting a cruise system of said vehicle comprises:
according to the linear state space equation, the Lyapunov equation and the control input function, taking the minimum value of the quadratic objective function and obtaining a quadratic objective function deformation equation after deformation, wherein the quadratic objective function deformation equation does not include an uncertain coefficient matrix of the linear state space equation;
the quadratic form objective function deformation equation is described again by using a kronecker product to obtain an iteration equation; and
and iteratively solving the Riccati equation and the Lyapunov equation by using the iterative equation.
4. The vehicle cruise control method according to claim 1, wherein said process of establishing a linear state space equation of a cruise system of a vehicle includes:
and establishing the linear state space equation according to a preset fixed headway.
5. The vehicle cruise control method according to claim 1, wherein said iteratively solving said japonov equations and said rich chi-ti equations on-line using excitation control inputs and excitation state variable outputs from exciting a cruise system of said vehicle to obtain an optimal feedback gain matrix comprises:
and adopting a fixed point strategy or a continuity strategy to solve the Jacobov equation and the Li Carti equation in an online iterative manner by utilizing the excitation control input and the excitation state variable output obtained by exciting the cruise system of the vehicle.
6. The vehicle cruise control method according to claim 1, characterized in that the state variables include: a difference in a desired inter-vehicle distance from an actual inter-vehicle distance of the vehicle and a preceding vehicle followed by the vehicle, a difference in speed of the vehicle and the preceding vehicle, and a relative acceleration of the vehicle and the preceding vehicle.
7. The vehicle cruise control method according to claim 2, characterized in that the feedback gain matrix is a matrix that stabilizes the cruise system.
8. A vehicle cruise control apparatus, characterized by comprising:
a space equation establishing module for establishing a linear state space equation of a cruise system of a vehicle, the linear state space equation including state variables and desired control inputs;
a feedback controller design module for designing and obtaining a feedback controller of the cruise system by using the Jacobov equation and the Li Carti equation by adopting a linear quadratic regulator optimal design method according to the state variables and the expected control input;
the control input value calculating module is used for calculating a value of the expected control input according to the state variable and the expected control input by using the feedback controller; and
the cruise control module is used for performing cruise control on the vehicle according to the value of the expected control input;
wherein the process of designing and obtaining the feedback controller of the cruise system by using the preset equation comprises the following steps: and iteratively solving the preset equation on line by utilizing excitation control input and excitation state variable output obtained by exciting the cruise system of the vehicle so as to obtain the feedback controller.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements a vehicle cruise control method according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a vehicle cruise control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310042672.8A CN115973149A (en) | 2023-01-28 | 2023-01-28 | Vehicle cruise control method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310042672.8A CN115973149A (en) | 2023-01-28 | 2023-01-28 | Vehicle cruise control method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115973149A true CN115973149A (en) | 2023-04-18 |
Family
ID=85959598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310042672.8A Pending CN115973149A (en) | 2023-01-28 | 2023-01-28 | Vehicle cruise control method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115973149A (en) |
-
2023
- 2023-01-28 CN CN202310042672.8A patent/CN115973149A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10613489B2 (en) | Method and system for determining optimal coefficients of controllers for autonomous driving vehicles | |
| Zhang et al. | Data-driven based cruise control of connected and automated vehicles under cyber-physical system framework | |
| Liu et al. | Real-time longitudinal and lateral state estimation of preceding vehicle based on moving horizon estimation | |
| Németh et al. | Optimal control of overtaking maneuver for intelligent vehicles | |
| CN112896191B (en) | Track processing method and device, electronic equipment and computer readable medium | |
| US20240028040A1 (en) | Data-driven control for autonomous driving | |
| Ghasemi et al. | Exact stability of a platoon of vehicles by considering time delay and lag | |
| CN114771570A (en) | Control method and device for automatic driving vehicle | |
| CN115534925A (en) | Vehicle control method, device, equipment and computer readable medium | |
| CN113306570B (en) | Method and device for controlling an autonomous vehicle and autonomous dispensing vehicle | |
| Garlick et al. | Real-time optimal trajectory planning for autonomous vehicles and lap time simulation using machine learning | |
| JP7019885B2 (en) | Vehicle control value determination device, vehicle control value determination method, and program | |
| US11403524B2 (en) | Methods of increasing processing speed in a processing system that performs a nonlinear optimization routine | |
| Hegedűs et al. | Implementation and design of ultra-local model-based control strategy for autonomous vehicles | |
| Gratzer et al. | Two-Layer MPC Architecture for Efficient Mixed-Integer-Informed Obstacle Avoidance in Real-Time | |
| CN115973149A (en) | Vehicle cruise control method and device, electronic equipment and storage medium | |
| CN115366872A (en) | Vehicle steering obstacle avoidance method, device and storage medium | |
| Sheykhi et al. | Providing robust-adaptive fractional-order sliding mode control in hybrid adaptive cruise control systems in the presence of model uncertainties and external disturbances | |
| Luu et al. | Research on cooperative adaptive cruise control system for autonomous vehicles based on distributed model predictive control | |
| CN115782918A (en) | Automatic driving longitudinal control method, device, equipment and storage medium | |
| Hu et al. | Constraint‐Following Approach for Platoon Control Strategy of Connected Autonomous Vehicles | |
| Esfahani et al. | Sliding mode controller design based on state estimation for underactuated AUVs in the presence of time-varying disturbances and uncertainties | |
| WO2024140898A1 (en) | Vehicle control method, apparatus and system, and electronic device and storage medium | |
| CN114355883B (en) | Self-adaptive car following method and system | |
| Manuel et al. | Predictive control applied to the steering system of an autonomous vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |