基于模糊的MPC和机器学习状态观察者的自适应巡航系统
Jianhua Guo1, Yinhang Wang1, Liang Chu1
1College of Automotive Engineering, Jilin University, Changchun 130025, China.
Sensors (Basel, Switzerland)
|July 8, 2023
概括
本研究介绍了适应式巡航控制 (ACC) 系统的等级控制策略,以提高在不确定的驾驶条件下跟踪精度和稳定性. 这种新的方法通过先进的控制方法提高了车辆的安全性和舒适性.
科学领域:
- 汽车工程 汽车工程
- 控制系统 控制系统
- 人工智能的人工智能
背景情况:
- 车辆智能化需要先进的控制系统,以提高安全性和舒适性.
- 传统的自适应巡航控制 (ACC) 系统在不确定和动态的驾驶环境中在跟踪性能,舒适性和稳定性方面存在局限性.
研究的目的:
- 提出一个分层的控制策略,以改善ACC系统在不确定的条件下的性能.
- 为了提高 ACC 系统的跟踪精度,乘客舒适度和控制强度.
主要方法:
- 基于深度学习的动态正常轮负载观察器被集成到ACC感知层中.
- 一种模糊模型预测控制 (fuzzy-MPC) 方法用于控制器设计,优化性能指标并适应不断变化的场景.
- 执行层使用了一个完全独立的PID控制器,以及基于规则的ABS控制方法,以提高安全性.
主要成果:
- 与模拟中的传统方法相比,拟议的层次控制策略显示出优越的跟踪精度和稳定性.
- 动态正常轮负载观察器有效地告知了车扭矩分配.
- 模糊的MPC控制器通过调整目标功能权重和约束来成功地适应不同的驾驶条件.
结论:
- 开发的层次控制策略显著提高了ACC系统的性能,提供了更好的安全性,舒适性和稳定性.
- 深度学习和模糊MPC的整合为未来的智能汽车控制系统提供了一个有希望的方向.
- 该战略有效地解决了在动态和不确定的驾驶场景中传统ACC系统的局限性.
相关概念视频
01:19Root-Locus Method
181
A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
This system can be represented by a block...
181
01:22Controller Configurations
126
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
126
01:22Multi-input and Multi-variable systems
132
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
132
01:17Open and closed-loop control systems
824
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
824
01:26Feedback control systems
350
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
350
01:10Control Systems
1.2K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
At the heart...
1.2K