Unmanned vehicle path following method based on event-triggering model prediction control

A model predictive control, event-triggered technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as difficult to guarantee optimization

Active Publication Date: 2019-08-23
TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
View PDF3 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Model predictive control uses rolling optimization and feedback correction methods, which can better solve optimization problems with constraints, and the predictive model can be combined with the controlled object itself, no matter whether the controlled object is a linear model or a nonlinear model,

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Unmanned vehicle path following method based on event-triggering model prediction control
  • Unmanned vehicle path following method based on event-triggering model prediction control
  • Unmanned vehicle path following method based on event-triggering model prediction control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0068] Below in conjunction with accompanying drawing and embodiment example, the present invention will be further described:

[0069] An unmanned vehicle path following method based on event-triggered model predictive control: comprising the following steps:

[0070] S1: Establish the nonlinear kinematic model of the vehicle, collect the kinematic global coordinate position information of the unmanned vehicle through the on-board sensor, and transmit it to the on-board microcontroller.

[0071] The establishment of vehicle nonlinear kinematics model includes:

[0072] Select the inertial system XOY as the global coordinate system, Indicates the heading angle of the vehicle, δ indicates the front wheel deflection angle, v r Indicates the front wheel speed, v f Represents the rear wheel speed, l represents the wheelbase of the vehicle, the superscript r represents the variables related to the central axis of the rear wheels, and the superscript f represents the variables r...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to an unmanned vehicle path following method based on event-triggering model prediction control. The method comprises the steps that a nonlinear kinematic model of a vehicle is established; unmanned vehicle kinematic global coordinate position information is collected and transmitted to a controller of the vehicle; an event triggering mechanism is designed, an optimization problem is solved to perform redundancy elimination processing, and whether a control strategy of the vehicle is updated or not is decided; and a model prediction controller solves an optimal control strategy by use of the position information in combination with state constraint and input constraint in a vehicle global coordinate system. According to the method, the event triggering mechanism is introduced, and it can be guaranteed that following to a reference path is guaranteed while the calculation amount is reduced; and compared with traditional periodical sampling control, an action is done only at the occurring moment of a determined event, for example, an error exceeds a threshold or a specific moment is reached, according to the event triggering mechanism, path following control isrealized, and meanwhile the calculation amount is greatly reduced.

Description

technical field [0001] The present invention relates to the technical field of automobile driving adaptive cruise system, in particular to a motion control system of automobile adaptive cruise system, and in particular to an unmanned vehicle path following method based on event-triggered model predictive control. Background technique [0002] Unmanned driving technology senses the road environment through the on-board sensor system, automatically plans the driving route and controls the vehicle to reach the predetermined target. Control the steering and speed of the vehicle so that the vehicle can move safely and reliably on the road. Integrating many technologies such as automatic control, architecture, artificial intelligence, and visual computing, it is the product of highly developed computer science, pattern recognition, and intelligent control technologies. [0003] The core of adaptive cruise system unmanned driving technology. Path-following control is the basic pr...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276G05D2201/0212
Inventor 张皓王祝萍张洪铭
Owner TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap