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Path-following method for unmanned vehicles based on event-triggered model predictive control

A model predictive control and event-triggered technology, used in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as difficult to guarantee optimization, reduce the amount of calculation, and realize path following control. Effect

Active Publication Date: 2022-05-13
TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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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, it can be predicted To achieve more precise control, it is widely used in the field of unmanned driving. The main disadvantage of model predictive control is the computational burden of online optimization
The existing vehicle hardware level is difficult to guarantee the solution of the optimization problem

Method used

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  • Path-following method for unmanned vehicles based on event-triggered model predictive control
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  • Path-following method for unmanned vehicles based on event-triggered model predictive control

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Embodiment Construction

[0067] Below in conjunction with accompanying drawing and embodiment example, the present invention will be further described:

[0068] An unmanned vehicle path following method based on event-triggered model predictive control: comprising the following steps:

[0069] 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.

[0070] The establishment of vehicle nonlinear kinematics model includes:

[0071] 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...

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Abstract

The present invention relates to an unmanned vehicle path-following method based on event-triggered model predictive control. The event-triggered mechanism de-redundantly processes the solution to the optimization problem to determine whether the vehicle's control strategy is updated; the model predictive controller uses the position information, combined with the state constraints and input constraints in the vehicle's global coordinate system, to solve the optimal control strategy. The present invention introduces an event trigger mechanism, which can reduce the calculation amount and ensure the follow-up of the reference path. Compared with the traditional periodic sampling control, the event trigger mechanism only acts when a predetermined event occurs, such as the error exceeds the threshold or reaches the At a specific moment, the path following control is realized, and the amount of calculation is greatly reduced at the same time.

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

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Application Information

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Patent Type & Authority Patents(China)
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
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