Man-machine interaction coordination control strategy based on multi-model predictive control
A technology of model predictive control and human-computer interaction, applied in computer parts, character and pattern recognition, computer-aided design, etc., can solve problems such as complex automatic driving control, strong time-varying parameters, and inability of MPC to adapt
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[0042] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0043] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0044] In order to solve the problems that cannot be solved by the traditional MPC automatic driving control under complex and multi-working conditions, the present invention proposes a new multi-model predictive control (MMPC) algorithm, and applies it to the intelligent car driver. machine cooperative control system. The Gustafson-Kessel (GK) algorithm is used to cluster and analyze the real vehicle test data to obtain the cluster center and training sample data of each typical steering condition; The structure is built, and the established sub-models of each category are used as the prediction model of the MPC algorithm; the objective function of the multi-objective optimization is c...
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