一种基于跟踪微分器的智能车辆加速度闭环控制方法

An Acceleration Closed-loop Control Method for Intelligent Vehicle Based on Tracking Differentiator

为了满足智能车辆进行L3及以上级别智能驾驶的需求,文章开发了一种基于跟踪微分器的加速度闭环控制方法。该方法采用跟踪微分器对加速度进行辨识,并对加速度进行闭环控制。其上层控制器根据车辆的当前速度、目标速度以及加速或者减速的距离计算一个加速度指令,并通过CAN网络将该指令发送到加速度闭环控制器中,从而实现对智能车辆进行加速或减速的纵向控制。实车实验结果表明,采用本方法的加速度闭环控制系统运行在加速度全范围且驱动矩及制动转矩不受限的区域,稳态误差控制在±0.2 m/s^(2)的范围内;在加速度小于1 m/s^(2)区域,控制精度更高,稳态误差控制在±0.1 m/s^(2)范围内。

In order to meet the intelligent driving demand of L3 or above levels for intelligent vehicles,this paper develops a closed-loop acceleration control method based on tracking differentiator.The method includes a tracking differentiator to identify the acceleration and a closed-loop controller of the acceleration.The upper controller calculates an acceleration instruction according to the vehicle's current speed,target speed and acceleration or deceleration distance.The instruction is sent to the acceleration closedloop controller through CAN network to realize the longitudinal control of acceleration or deceleration of the intelligent vehicle.Experimental results show that the closed-loop steady-state error of acceleration is controlled within the range of±0.2 m/s^(2) when the driving torque and braking torque are not limited by the proposed method.In the region of acceleration less than 1 m/s^(2),the control accuracy is higher,and the steady-state error is controlled within the range of±0.1 m/s^(2).