Application of Piecewise Affine Model in Hybrid Control of Intelligent Vehicle
Aiming at the hybrid dynamics control problem of intelligent vehicle,firstly,the piecewise affine model(PWA)is used to approach the system characteristics of the main components of the vehicle,and the longitudinal dynamics of intelligent ve-hicle is transformed into a computational hybrid logical dynamics(MLD)model.On this basis,a hybrid model predictive control(HMPC)strategy is proposed.By solving the mixed integer quadratic programming(MIQP)problem,a controller which can cal-culate the longitudinal working mode(binary control input)of intelligent vehicle and the switching sequence of throttle opening and brake pressure(continuous control input)in the process of automatic speed regulation is designed.Finally,through simula-tion comparison and simulation analysis,it is verified that the designed hybrid controller has good longitudinal speed regulation control performance under typical working conditions.
Intelligent VehiclePiecewise Affine SystemMixed Logic Dynamic ModelSpeed Control
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