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A dynamic predictive control method and system of autonomous vehicles

A predictive control and pre-control technology, applied in general control systems, control/regulation systems, vehicle position/route/height control, etc., and can solve problems such as complexity and complex state of semi-trailer trucks

Pending Publication Date: 2020-05-12
TUSIMPLE INC
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Some vehicles, such as semi-trailer trucks, have a tractor and a trailer, and the trailer is connected to the tractor by a pivot point that provides additional degrees of freedom, allowing semi-trailer trucks to have more complex states , leading to the complexity of predicting the future state of the vehicle

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  • A dynamic predictive control method and system of autonomous vehicles
  • A dynamic predictive control method and system of autonomous vehicles
  • A dynamic predictive control method and system of autonomous vehicles

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Embodiment Construction

[0018] Vehicle Control System Introduction

[0019] In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of various embodiments. It will be apparent, however, to one of ordinary skill in the art that various embodiments may be practiced without these specific details.

[0020] A dynamic predictive control system and method for an autonomous vehicle is disclosed in various example embodiments of the present application. An example embodiment of the present disclosure may be used in the context of an onboard control system 150 in a vehicle ecosystem 101 . In an example embodiment, the onboard control system 150 is configured with the image processing module 200 and is resident in the vehicle 105, the system 150 may be configured as figure 1 Architecture and Ecosystem 101 shown. However, it will be apparent to those of ordinary skill in the art that the disclosed and claimed image proc...

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Abstract

The invention discloses a dynamic predictive control method and system for a semi-trailer truck. The method comprises the following steps: receiving an expected track and a current vehicle state of the semi-trailer truck, wherein the expected track comprises positions and directions of a plurality of road points and a speed curve of the vehicle; linearizing a pre-established nonlinear dynamics model of the semi-trailer truck according to the expected trajectory and the current vehicle state to obtain a non-time-varying linear transverse dynamics model and a non-time-varying linear longitudinalkinematics model; providing the expected track and the current vehicle state as input for a transverse kinetic model and a longitudinal kinematic model, performing model predictive control, and obtaining a transverse pre-control amount and a longitudinal pre-control amount; controlling a steering wheel control mechanism of the semi-trailer truck according to the current state of the truck and thetransverse pre-control amount; and controlling an accelerator control mechanism and / or a brake control mechanism of the semi-trailer truck according to the current state and the longitudinal pre-control amount of the truck.

Description

technical field [0001] The present invention generally relates to systems and methods for automatic driving, and more particularly to improved predictive control for automatic driving. Background technique [0002] In an autonomous driving system, accurate understanding and prediction of the surrounding driving environment and traffic participants is very important for autonomous or autonomous vehicles to make accurate and safe decisions. In addition, an autonomous driving system must accurately measure the current state of the vehicle being driven (also known as the ego vehicle), for example, the vehicle's speed, acceleration, road conditions, position, etc. within the current lane. Accurately predicting vehicle state changes in response to control commands, such as steering, acceleration, and / or braking commands, may also be a parameter for autonomous vehicle control. Some vehicles, such as semi-trailer trucks, have a tractor and a trailer, and the trailer is connected to...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05D1/024G05D1/0242G05D1/0253G05D1/0255G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/0285B62D15/025B60W10/04B60W10/20B60W10/18B60W2300/145G05D1/0088G05D1/0212G05B2219/42033G06F17/11G05B19/4155B60W2400/00B60W2710/18B60W2710/20B60W2050/0011B60W50/00B60W2050/0028B60W2050/0083B60W2530/10B60W2520/22
Inventor 亚伦·黑文斯陈珺吴玉岬孙皓茗宣梓杰阿尔达·库尔特
Owner TUSIMPLE INC
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