智能车辆自动超车系统的数据驱动路径跟踪约束控制

针对智能车辆自动超车系统,提出了一种新的数据驱动超车路径跟踪约束控制方案,系统控制方案的设计仅利用自动超车系统的输入/输出数据,并不包括车辆的模型信息,所以针对不同的车型均能够实现自动超车的数据驱动路径跟踪约束控制.在控制器的设计过程中,针对控制输入受变化范围和变化速率的限制,提出了一种新的动态抗饱和补偿器来解决饱和问题.最后给出了数据驱动约束控制与原型无模型自适应控制(model free adaptive control,MFAC)以及PID控制的仿真结果对比,结果表明,本文所提控制方案能够很好的完成自动超车过程的路径跟踪,且相比原型MFAC以及PID控制方案,本文方案具有更小的跟踪误差和更快的响应速度.

Novel data-driven path tracking constrained control for intelligent vehicle autonomous overtaking system

In this paper, a novel data-driven path tracking constrained control scheme is proposed for intelligent vehicle autonomous overtaking system. The design of the proposed control scheme only depends on the input data and output data of the controlled system, and it does not involve any model information of the car. Therefore, the proposed scheme based autonomous overtaking system is applicable to different kinds of cars. In the design procedure of the controller, a novel dynamic anti-windup compensator is used to deal with the change magnitude and rate saturations of autonomous overtaking control input. Finally, a simulation comparison among the proposed scheme, model free adaptive control (MFAC) and proportion integration differentiation (PID) control algorithm is given. It is shown that the proposed scheme can perfectly achieve the path tracking in the autonomous overtaking process. And the proposed scheme has smaller tracking errors and more rapid responses than model free adaptive control and PID control scheme.