CN113050651A - 智能车自主行驶路径跟踪的时滞控制方法及*** - Google Patents
智能车自主行驶路径跟踪的时滞控制方法及*** Download PDFInfo
- Publication number
- CN113050651A CN113050651A CN202110315577.1A CN202110315577A CN113050651A CN 113050651 A CN113050651 A CN 113050651A CN 202110315577 A CN202110315577 A CN 202110315577A CN 113050651 A CN113050651 A CN 113050651A
- Authority
- CN
- China
- Prior art keywords
- intelligent vehicle
- time lag
- path
- control
- matrix
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 41
- 230000008859 change Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000012938 design process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110315577.1A CN113050651B (zh) | 2021-03-24 | 2021-03-24 | 智能车自主行驶路径跟踪的时滞控制方法及*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110315577.1A CN113050651B (zh) | 2021-03-24 | 2021-03-24 | 智能车自主行驶路径跟踪的时滞控制方法及*** |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113050651A true CN113050651A (zh) | 2021-06-29 |
CN113050651B CN113050651B (zh) | 2022-09-13 |
Family
ID=76515047
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110315577.1A Active CN113050651B (zh) | 2021-03-24 | 2021-03-24 | 智能车自主行驶路径跟踪的时滞控制方法及*** |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113050651B (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114638051A (zh) * | 2022-03-08 | 2022-06-17 | 浙江大学 | 一种基于***不变量的智能汽车时滞稳定性分析方法 |
CN114834526A (zh) * | 2022-05-18 | 2022-08-02 | 南京航空航天大学 | 一种云控自动转向装置的时滞控制***及方法 |
CN115447603A (zh) * | 2022-04-26 | 2022-12-09 | 重庆大学 | 一种应用于自动驾驶车辆的有限时间路径跟踪控制方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108646763A (zh) * | 2018-07-18 | 2018-10-12 | 扬州大学 | 一种自主行驶轨迹跟踪控制方法 |
CN110780594A (zh) * | 2019-11-22 | 2020-02-11 | 中国科学院电工研究所 | 一种智能车的路径跟踪方法及*** |
CN111897344A (zh) * | 2020-08-14 | 2020-11-06 | 清华大学 | 一种兼顾稳定性的自动驾驶汽车路径跟踪控制方法 |
CN111890951A (zh) * | 2020-08-07 | 2020-11-06 | 吉林大学 | 智能电动汽车轨迹跟踪与运动控制方法 |
CN112319610A (zh) * | 2020-10-14 | 2021-02-05 | 华南理工大学 | 一种智能汽车的人机共享转向控制方法 |
-
2021
- 2021-03-24 CN CN202110315577.1A patent/CN113050651B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108646763A (zh) * | 2018-07-18 | 2018-10-12 | 扬州大学 | 一种自主行驶轨迹跟踪控制方法 |
CN110780594A (zh) * | 2019-11-22 | 2020-02-11 | 中国科学院电工研究所 | 一种智能车的路径跟踪方法及*** |
CN111890951A (zh) * | 2020-08-07 | 2020-11-06 | 吉林大学 | 智能电动汽车轨迹跟踪与运动控制方法 |
CN111897344A (zh) * | 2020-08-14 | 2020-11-06 | 清华大学 | 一种兼顾稳定性的自动驾驶汽车路径跟踪控制方法 |
CN112319610A (zh) * | 2020-10-14 | 2021-02-05 | 华南理工大学 | 一种智能汽车的人机共享转向控制方法 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114638051A (zh) * | 2022-03-08 | 2022-06-17 | 浙江大学 | 一种基于***不变量的智能汽车时滞稳定性分析方法 |
CN114638051B (zh) * | 2022-03-08 | 2024-02-27 | 浙江大学 | 一种基于***不变量的智能汽车时滞稳定性分析方法 |
CN115447603A (zh) * | 2022-04-26 | 2022-12-09 | 重庆大学 | 一种应用于自动驾驶车辆的有限时间路径跟踪控制方法 |
CN115447603B (zh) * | 2022-04-26 | 2024-05-24 | 重庆大学 | 一种应用于自动驾驶车辆的有限时间路径跟踪控制方法 |
CN114834526A (zh) * | 2022-05-18 | 2022-08-02 | 南京航空航天大学 | 一种云控自动转向装置的时滞控制***及方法 |
Also Published As
Publication number | Publication date |
---|---|
CN113050651B (zh) | 2022-09-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113050651B (zh) | 智能车自主行驶路径跟踪的时滞控制方法及*** | |
CN108227491B (zh) | 一种基于滑模神经网络的智能车轨迹跟踪控制方法 | |
CN107015477B (zh) | 基于状态反馈的车辆路径跟踪h∞控制方法 | |
CN106649983B (zh) | 用于无人驾驶车辆高速运动规划的车辆动力学模型建模方法 | |
CN107215329B (zh) | 一种基于atsm的分布式驱动电动汽车横向稳定性控制方法 | |
CN104881030A (zh) | 基于快速终端滑模原理的无人车侧纵向耦合跟踪控制方法 | |
CN112578672B (zh) | 基于底盘非线性的无人驾驶汽车轨迹控制***及其轨迹控制方法 | |
CN104477237A (zh) | 一种四轮独立转向电动车转向控制方法及*** | |
CN111158376B (zh) | 松软崎岖地形中摇杆摇臂式星球车轨迹跟踪协调控制方法 | |
CN113183950A (zh) | 一种电动汽车主动前轮转向的自适应控制方法 | |
CN110096748A (zh) | 一种基于车辆运动学模型的人-车-路模型建模方法 | |
Velenis | FWD vehicle drifting control: The handbrake-cornering technique | |
CN113009829A (zh) | 一种智能网联车队纵横向耦合控制方法 | |
CN103407342A (zh) | 一种车辆横向动力学模糊混沌控制***及其控制方法 | |
Hang et al. | Design of an active collision avoidance system for a 4WIS-4WID electric vehicle | |
CN106347361A (zh) | 一种冗余驱动车辆动力学控制分配方法 | |
Liu et al. | Trajectory tracking control of four wheel steering under high speed emergency obstacle avoidance | |
Dong et al. | Autonomous vehicle lateral control based on fractional-order PID | |
CN111731380B (zh) | 一种基于轮胎非线性特点的线控四轮转向分段控制方法 | |
CN109849898A (zh) | 基于遗传算法混合优化gpc的车辆横摆稳定性控制方法 | |
Cheng et al. | A game theoretical chassis domain approach to trajectory tracking for automated vehicles | |
CN107561943A (zh) | 一种汽车最速操纵逆动力学数学模型的建立方法 | |
CN117302190A (zh) | 一种面向自动驾驶卡车的预瞄跟踪控制***及控制方法 | |
CN114148318B (zh) | 冰雪环境下基于反馈线性化与lqr的车辆路径跟踪方法 | |
CN111352442A (zh) | 一种基于鲁棒H infinite控制的牵引式挂车轨迹跟踪方法 |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220921 Address after: Room 403, 4th Floor, Building 9, No. 159, Meilin Road, Qixian Street, Keqiao District, Shaoxing City, Zhejiang Province 312000 Patentee after: Zhejiang fanerying Automotive Electronics Technology Co.,Ltd. Address before: 508-1, building B, high speed rail business center, Wuxi East Station, 488 Cuishan Road, anzhen street, Xishan District, Wuxi City, Jiangsu Province, 214000 Patentee before: Wuxi Hangzhe Intelligent Technology Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
CP03 | Change of name, title or address |
Address after: Room 401-10, East Building, Building 10, Hi-tech Park, Sanjing Street, Xinbei District, Changzhou City, Jiangsu Province, 213022 Patentee after: Jiangsu Fanerying Automotive Electronic Technology Co.,Ltd. Address before: Room 403, 4th Floor, Building 9, No. 159, Meilin Road, Qixian Street, Keqiao District, Shaoxing City, Zhejiang Province 312000 Patentee before: Zhejiang fanerying Automotive Electronics Technology Co.,Ltd. |
|
CP03 | Change of name, title or address |