CN113419430A - Design method and system of event trigger controller of automobile adaptive cruise control system - Google Patents
Design method and system of event trigger controller of automobile adaptive cruise control systemDownload PDFInfo
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Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the field of adaptive cruise control, in particular to a design method and a system of an event trigger controller of an automobile adaptive cruise control system.
Background
In recent years, the automobile industry has been dedicated to research and development of driving assistance systems, aiming at improving road traffic safety, reducing traffic accidents caused by human factors, and reducing energy consumption. Today, the rapid development of science and technology, it is important to establish a modern intelligent traffic system, which is one of the most widely used driving assistance systems, namely, an adaptive cruise control system, which can keep a certain distance between a vehicle and a preceding vehicle and drive the vehicle at a set speed on the premise that the driver does not operate the vehicle, so that the fatigue of the driver can be reduced, and the driving safety can be improved to a certain extent.
In the field of longitudinal motion control, the self-adaptive cruise control system can replace a driver to operate and adjust the opening of an accelerator of a vehicle and brake the vehicle, and the automatic longitudinal control capability of the vehicle is improved, so that traffic accidents caused by fatigue driving caused by long-time operation of the vehicle by the driver are reduced. Currently, although many control techniques are available for automotive adaptive cruise control systems. However, the prior art still has the following problems: in the control method of the automobile adaptive cruise system, although the prior art can avoid the collision of the vehicle, the event trigger control is not considered; most of the existing control methods only consider research under ideal conditions, and do not consider other external interference factors, such as weather and the like.
Disclosure of Invention
The invention provides a design method and a system of an event trigger controller of an automobile adaptive cruise control system, which aim to overcome the problems.
The method comprises the following steps:
step 3, establishing an adaptive law module, processing the information output by the adaptive law module, and transmitting the processed information to an event trigger mechanism module;
triggering a triggering condition, activating an event triggering input signal module, updating an input signal at a triggering moment by the input signal, transmitting the input signal at the triggering moment to an automobile self-adaptive cruise system, and receiving the updated signal by the system;
the trigger condition is not triggered, and the control signal is always kept by the zero-order retainer;
and 5, transmitting the updated input signal back to the automobile self-adaptive cruise control system by the event trigger input signal module, and receiving the updated input signal by the automobile self-adaptive cruise control system.
Further, the model of the automobile adaptive cruise control system instep 1 is as follows:
wherein s is the current actual distance between the two vehicles, s0Desired distance for the controlled vehicle to follow the leading vehicle, vxIs the longitudinal speed, v, of the vehiclesIs the front vehicle speed, and k is the vehicle driving force FwfAnd slip ratio
Of a proportionality coefficient, i.e.
rradIs the effective radius of the tire, omegafAs angular velocity of the wheel, cafIs an air resistance coefficient, f isCoefficient of rolling resistance, m is the mass of the vehicle, g is the acceleration of gravity, J is the moment of inertia of the tire, TvehFor the drive torque applied to the front wheels, Δi(i ═ 1,2,3,4) are weather factors, roughness of the road surface, aging of the sensors and other interference factors that can affect the sensors of the automobile itself.
Further,step 2 comprises:
step 21, designing a dynamic virtual error surface:
zi＝xi-ξi
πi＝ξi-αi-1,i＝2,3,4 (3)
wherein eta ismin> 0 and ηmax0 is a design parameter, upsilon (t) is a conversion signal, and x1Is an error integral term q, x2Is the actual distance s, x between the controlled vehicle and the front vehicle3Is the front vehicle speed vs，x4Is the angular velocity omega of the tiref；πiFor first-order filtering the output error, the first-order filtering is in the form of
ξi(0)＝αi-1(0) I-1, 2,3,4 wherein τiIs a given constant; xiiIs an intermediate state variable, αi-1For the virtual controller, the estimation error is
(i＝1,2,3,4)，
Is TiAn estimated value of (d);
step 22, designing a virtual controller as follows:
wherein, c1,c2,c3In order to design the parameters for the real purpose,
are respectively T1、T2、T3Estimate of (b), z1,z2,z3Is a virtual error surface for the system,
to specify the performance function parameters, vxAs is the longitudinal speed of the vehicle,
and
are respectively xi2，ξ3The derivative of (c), ζ is the tracking error,
desired distance s for controlled vehicle0；
k is a proportionality coefficient, and m is a vehicle mass;
cafis the air resistance coefficient; -fg-n, f is the rolling resistance coefficient, g is the gravitational acceleration; and a, b, n and k are all designed virtual controller adjusting parameters.
The system of the invention comprises:
the system comprises a virtual controller module, an adaptive law module, an event trigger mechanism module, an event trigger input signal module and an automobile adaptive cruise system;
the input of the virtual controller module is connected with the output end of the automobile self-adaptive cruise control system,
the output end of the virtual controller module is respectively connected with the input ends of the adaptive law module and the event trigger mechanism module,
the input end of the event trigger input signal module is connected with the output end of the event trigger mechanism module,
the output end of the self-adaptive law module is connected with the input end of the virtual controller module,
the output end of the event trigger input signal module is connected with the input end of the automobile self-adaptive cruise control system;
the virtual controller module is used for obtaining a virtual controller of the system through a nonlinear model of the automobile self-adaptive cruise control system;
the self-adaptive law module is used for calculating the dynamic change of the self-adaptive parameters and sending the dynamic change to the virtual controller module;
the event trigger mechanism module is used for judging whether the current input signal meets the trigger condition.
Further, the adaptive law module is:
wherein, betaiI is 1,2,3,4 and phiiI is a positive design constant, z is 1,2,3,41,z2,z3,z4Is a virtual error surface.
Further, the event triggering mechanism module is as follows:
wherein, tkk,kk∈Z+,
Lambda is a transmission control law and satisfies that lambda is more than 0 and less than 1; j is the moment of inertia of the tire; e (t) ═ ω (t) -u (t) is the measurement error, u (t) is the input signal, ω (t) is the updated signal, and σ is the positive design parameter;
further, the event trigger input signal module is:
u (t) is an input signal when the trigger input signal module is triggered
During which the input signal is held at a constant ω (t)kk)。
If the trigger requirement is not met, the event trigger input module does not work, the input signal is kept by the zero-order retainer until the signal meeting the trigger requirement is received, and triggering is carried out;
if the trigger requirement is met, the event trigger input module is activated to trigger the input signal u (t) at the momentkk+1) To the adaptive cruise system.
Most of the existing methods for the automobile adaptive cruise control system can realize the following of the controlled vehicle and the front vehicle, but the method not only can realize general following, but also can realize that the controlled vehicle and the front vehicle are always kept within a safe driving distance range through a specified performance theory, thereby completely avoiding the possibility of collision, reducing the waste of resources after adopting event triggering and greatly reducing the transmission times of data in network transmission.
The event trigger controller is applied to the self-adaptive cruise system, so that the consumption of communication resources is effectively reduced, and the collision of vehicles is completely avoided to the maximum extent by a specified performance theory.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an adaptive event trigger control for an adaptive cruise control system for an automobile;
FIG. 2 is a graph showing the effect of tracking the distance between a controlled vehicle and a leading vehicle;
FIG. 3 is a graph of wheel angular velocity of a wheel of the controlled vehicle;
FIG. 4 is a diagram of the effect of the updated control signal after an event trigger;
FIG. 5 is an adaptive parameter
A graph;
FIG. 6 is an adaptive parameter
A graph;
FIG. 7 is an adaptive parameter
A graph;
FIG. 8 is an adaptive parameter
Graph is shown.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
The design method of the event trigger controller of the automobile adaptive cruise control system comprises the following steps:
step 3, establishing an adaptive law module, processing the information output by the adaptive law module, and transmitting the processed information to an event trigger mechanism module;
triggering a triggering condition, activating an event triggering input signal module, updating an input signal at a triggering moment by the input signal, calculating the input signal by using output information in a virtual controller module by an event triggering mechanism module, transmitting the input signal at the triggering moment to an automobile self-adaptive cruise system, and receiving the updated signal by the system;
the trigger condition is not triggered, and the control signal is always kept by the zero-order retainer;
and 5, transmitting the updated input signal back to the automobile self-adaptive cruise control system by the event trigger input signal module, and receiving the updated input signal by the automobile self-adaptive cruise control system.
2. The structure of the system of the invention comprises: the system comprises a virtual controller module, an adaptive law module, an event trigger mechanism module, an event trigger input signal module and an automobile cruise system, wherein the input of the virtual controller module is connected with the output end of the automobile adaptive cruise control system, the output end of the virtual controller module is respectively connected with the input ends of the adaptive law module and the event trigger mechanism module, the input end of the event trigger input signal module is connected with the output end of the event trigger mechanism module, the output end of the adaptive law module is connected with the input end of the virtual controller module, and the output end of the event trigger input signal module is connected with the input end of the automobile adaptive cruise control system.
The system needs to establish the following modules:
A. establishing automobile self-adaptive cruise control system model
The model of the automobile self-adaptive cruise control system is described by the following differential equation:
wherein s is the current actual distance between the two vehicles, s0Desired distance for the controlled vehicle to follow the leading vehicle, vxIs the longitudinal speed, v, of the vehiclesIs the front vehicle speed, and k is the vehicle driving force FwfAnd slip ratio
The scaling factor of (a) is,
namely, it is
rradIs the effective radius, omega, of the tirefIs the angular velocity of the wheel, cafIs the air resistance coefficient, f is the rolling resistance coefficient, m is the vehicle mass, g is the gravitational acceleration, J is the tire moment of inertia, TvehIs the drive torque, Δ, applied to the front wheelsi(i ═ 1,2,3,4) as a weather factor, roughness of the road surface, aging of the sensors and other factors that may be generated in the sensors of the vehicle itselfInterference factors influencing the interference.
B. Virtual controller module
The virtual controller module has the main function of obtaining the virtual controller of the system through the nonlinear model of the automobile adaptive cruise control system.
The treatment method comprises the following steps:
firstly, designing a dynamic virtual error surface in the following form:
zi＝xi-ξi
πi＝ξi-αi-1,i＝2,3,4 (3)
wherein eta ismin> 0 andη max0 is a design parameter, upsilon (t) is a switching signal, x1Representing the error integral term q, x2Representing the actual distance s, x between the controlled vehicle and the front vehicle3Representing front vehicle speed vs，x4Representing angular velocity omega of tyref；πiIs a first order filtering output error in the form of a first order filter
ξi(0)＝αi-1(0) I-1, 2,3,4 wherein τiIs a given constant; xiiIs an intermediate state variable, αi-1Is a virtual controller. In order to overcome the influence caused by parameter uncertainty, a parameter estimator needs to be designed to estimate the range of unknown parameters, and the estimation error has
(i ═ 1,2,3,4), wherein
Is TiIs estimated.
The virtual controller is then of the form:
wherein, c1,c2,c3In order to design the parameters for the real purpose,
are each T1，T2，T3Estimate of (b), z1,z2,z3Is a virtual error surface of the system,
to specify the performance function parameters, vxAs is the longitudinal speed of the vehicle,
and
are respectively xi2，ξ3The derivative of (c), ζ is the tracking error,
desired distance s for controlled vehicle0The time derivative is a derivative of the time,
where k is the proportionality coefficient, m is the vehicle mass,
wherein c isafIs the coefficient of air resistance, -fg-n, where f is the coefficient of rolling resistance and g is the acceleration of gravity. The values of a, b, n,
are all designed virtual controller tuning parameters.
C. Adaptive law module
The function of the self-adaptive law module is to calculate the dynamic change of the self-adaptive parameters, calculate and send the dynamic change of the self-adaptive parameters to the virtual controller module.
Introducing an adaptive law to adaptive parameters in an automobile adaptive cruise control system:
wherein, betaiI is 1,2,3,4 and phiiI is a positive design constant, z is 1,2,3,41,z2,z3,z4Is a virtual error surface.
D. Event trigger mechanism module
The function of the event trigger mechanism module is to judge whether the current input signal meets the trigger condition.
The event trigger mechanism is as follows:
wherein J is the moment of inertia of the tire; lambda is a transmission control law and satisfies that lambda is more than 0 and less than 1; e (t) ═ ω (t) -u (t) is the measurement error, u (t) is the input signal, ω (t) is the updated signal, and σ is the positive design parameter;
E. event trigger input signal module
The automobile self-adaptive cruise control event trigger controller comprises the following components:
u (t) is the input signal, when (10) is triggered, at
During the period (non-trigger time), the input signal is held constant, i.e. ω (t)kk)。
If the trigger requirement is not met, the event trigger input module does not work, the input signal is kept by the zero-order retainer until the signal meeting the trigger requirement is received, and triggering is carried out;
if the triggering requirement is met, the event triggering input module is activated to trigger the input signal omega (t) at the momentkk+1) To the adaptive cruise system.
And (3) explaining the working principle of the whole process:
the invention relates to a design method of an event trigger controller of an automobile adaptive cruise control system, which has a structure shown in figure 1. While the vehicle is running, the front vehicle speed vsLongitudinal speed v of the controlled vehiclexAnd the angular velocity omega of the wheel during travelfInputting the information into the virtual controller module to obtain the virtual controller alphai(i ═ 1,2,3), adaptive parameters in the adaptive law module
The variable is transmitted to the input end of the virtual controller module for variable calculation, and the auxiliary virtual controller obtained by the virtual controller module
The updated input signal is transmitted back to the automobile self-adaptive cruise control system by the event triggering input signal module. The design aim of the invention is to enable the automobile adaptive cruise control system to effectively reduce unnecessary network transmission resources after adding the event trigger control method, and further prevent vehicle collision after combining with a specified performance theory.
The simulation results are shown in fig. 2 to 8. FIG. 2 is a graph showing the effect of tracking the distance between the controlled vehicle and the leading vehicle, FIG. 3 is a graph showing the angular velocity of the wheels of the controlled vehicle, FIG. 4 is a graph showing the effect of the control signal updated after event triggering, and FIG. 5 is a graph showing the effect of the adaptive parameters
FIG. 6 is a graph of adaptive parameters
FIG. 7 is a graph of adaptive parameters
FIG. 8 is a graph of adaptive parameters
And the graph shows that the controlled vehicle and the front vehicle can well follow and tend to be stable through the simulation result graph.
The whole beneficial effects are as follows:
(1) the event trigger controller is added in the invention, so that the vehicle collision is avoided, and the network resource transmission quantity can be saved.
(2) In the invention, the influence of external interference on the vehicle is considered, so that the method is more universal and persuasive.
(3) Most cruise systems have anti-collision capacity, but cannot completely ensure that vehicles cannot collide with each other, and the controlled vehicle and the front vehicle can keep a certain distance by combining with a specified performance theory.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A design method of an event trigger controller of an automobile adaptive cruise control system is characterized by comprising the following steps:
step 1, establishing an automobile adaptive cruise system, and inputting information into a virtual controller, wherein the information is vehicle speed information obtained by a sensor in the automobile adaptive cruise system and a vehicle-mounted network;
step 2, establishing a virtual controller module, wherein the virtual controller module is used for calculating a virtual controller of the automobile adaptive cruise control system through a nonlinear model of the automobile adaptive cruise control system;
step 3, establishing an adaptive law module, and transmitting the information output by the adaptive law module to an event trigger mechanism module;
step 4, the event trigger mechanism module designs a trigger mechanism corresponding to the system to obtain a trigger condition of the event trigger input signal module, and the event trigger mechanism module calculates to obtain an input signal by using output information in the virtual controller module;
triggering a triggering condition, activating an event triggering input signal module, updating an input signal at a triggering moment by the input signal, transmitting the input signal at the triggering moment to an automobile self-adaptive cruise system, and receiving the updated signal by the system;
the trigger condition is not triggered, and the control signal is always kept by the zero-order retainer;
and 5, transmitting the updated input signal back to the automobile self-adaptive cruise control system by the event trigger input signal module, and receiving the updated input signal by the automobile self-adaptive cruise control system.
2. The method for designing an event trigger controller of an automobile adaptive cruise control system according to claim 1, wherein the automobile adaptive cruise control system model in the step 1 is as follows:
wherein s is the current actual distance between the two vehicles, s0Desired distance for the controlled vehicle to follow the leading vehicle, vxIs the longitudinal speed, v, of the vehiclesIs the front vehicle speed, and k is the vehicle driving force FwfAnd slip ratio
Of a proportionality coefficient, i.e.
rradIs the effective radius of the tire, omegafAs angular velocity of the wheel, cafIs the air resistance coefficient, f is the rolling resistance coefficient, m is the vehicle mass, g is the gravitational acceleration, J is the tire moment of inertia, TvehFor the drive torque applied to the front wheels, Δi(i ═ 1,2,3,4) are weather factors, roughness of the road surface, aging of the sensors and other interference factors that can affect the sensors of the automobile itself.
3. The design method of the event trigger controller of the automobile adaptive cruise control system according to claim 2, wherein the step 2 comprises the following steps:
step 21, designing a dynamic virtual error surface:
zi＝xi-ξi
πi＝ξi-αi-1,i＝2,3,4 (3)
wherein eta ismin> 0 and ηmax0 is a design parameter, upsilon (t) is a conversion signal, and x1Is an error integral term q, x2Is the actual distance s, x between the controlled vehicle and the front vehicle3Is the front vehicle speed vs，x4Is the angular velocity omega of the tiref；πiFor first-order filtering the output error, the first-order filtering is in the form of
ξi(0)＝αi-1(0) I-1, 2,3,4 wherein τiIs a given constant; xiiIs an intermediate state variable, αi-1For the virtual controller, the estimation error is
Is TiAn estimated value of (d);
step 22, designing a virtual controller as follows:
wherein, c1,c2,c3In order to design the parameters for the real purpose,
are respectively T1、T2、T3Estimate of (b), z1,z2,z3Is a virtual error surface for the system,
to specify the performance function parameters, vxAs is the longitudinal speed of the vehicle,
and
are respectively xi2，ξ3The derivative of (c), ζ is the tracking error,
desired distance s for controlled vehicle0；
k is a proportionality coefficient, and m is a vehicle mass;
cafis the air resistance coefficient; n is-fg, f is rolling resistance coefficient, g is gravity acceleration; a. b, n and k are all designed virtual controller adjusting parameters.
4. A design system of an event trigger controller of an automobile adaptive cruise control system is characterized by comprising the following components:
the system comprises a virtual controller module, an adaptive law module, an event trigger mechanism module, an event trigger input signal module and an automobile adaptive cruise system;
the input of the virtual controller module is connected with the output end of the automobile self-adaptive cruise control system,
the output end of the virtual controller module is respectively connected with the input ends of the adaptive law module and the event trigger mechanism module,
the input end of the event trigger input signal module is connected with the output end of the event trigger mechanism module,
the output end of the self-adaptive law module is connected with the input end of the virtual controller module,
the output end of the event trigger input signal module is connected with the input end of the automobile self-adaptive cruise control system;
the virtual controller module is used for obtaining a virtual controller of the system through a nonlinear model of the automobile self-adaptive cruise control system;
the self-adaptive law module is used for calculating the dynamic change of the self-adaptive parameters and sending the dynamic change to the virtual controller module;
the event trigger mechanism module is used for judging whether the current input signal meets the trigger condition;
the event trigger input module is used for transmitting the updated input signal to the automobile self-adaptive cruise system;
the automobile self-adaptive cruise system module is used for receiving updated input signals and transmitting the input signals to the virtual controller module.
5. The system for designing an event trigger controller for an automotive adaptive cruise control system according to claim 4, wherein the adaptive law module is:
wherein, betaiI is 1,2,3,4 and phiiI is a positive design constant, z is 1,2,3,41,z2,z3,z4Is a virtual error surface.
6. The design system of event trigger controller for vehicle adaptive cruise control system according to claim 4, wherein the event trigger mechanism module is:
wherein, tkkFor the controller to update the time of day, kk ∈ Z+,
λ is transmission control law, λ is more than 0 and less than 1, e (t) is ω (t) -u (t) is measurement error, u (t) is input signal, ω (t) is updated signal, and σ is positive design parameter of event trigger mechanism; j is the moment of inertia of the tire,
when in use
An event trigger mechanism is triggered and the event trigger input signal module is activated.
7. The design system of an event trigger controller for an automotive adaptive cruise control system according to claim 4, wherein the event trigger input signal module is:
wherein u (t) is an input signal when the trigger input signal module is activated
During which the input signal u (t) is held constant ω (t)kk)。
If the trigger requirement is not met, the event trigger input module does not work, the input signal is kept by the zero-order retainer until the signal meeting the trigger requirement is received, and triggering is carried out;
if the trigger requirement is met, the event trigger input module is activated to trigger the input signal u (t) at the momentkk+1) To the adaptive cruise system.
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