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Method and apparatus for controlling unmanned equipment

A technology of equipment and control parameters, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as difficulty in obtaining accurate values ​​of control parameters and inaccurate horizontal control of unmanned equipment

Active Publication Date: 2020-11-03
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Application Information

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Problems solved by technology

However, the lateral control of unmanned equipment is not precise enough due to the difficulty in obtaining precise values ​​of the control parameters

Method used

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  • Method and apparatus for controlling unmanned equipment
  • Method and apparatus for controlling unmanned equipment
  • Method and apparatus for controlling unmanned equipment

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Embodiment Construction

[0053] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.

[0054] The unmanned device can obtain the pre-planned trajectory and current driving data, and through the lateral control of the unmanned device (that is, how to control the steering wheel of the unmanned device), the unmanned device can drive according to the obtained trajectory.

[0055] In the prior art, the problem of lateral control of unmanned equipment can be transformed into the prob...

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Abstract

This specification discloses a method and device for controlling unmanned equipment. By obtaining sample driving data, the driving data includes attitude information and operating information, inputting the sample driving data into the control model to be trained, and obtaining the control to be optimized output by the control model to be trained Parameters, according to the control parameters to be optimized and sample attitude information, determine the predicted operation information, according to the predicted operation information and sample operation information, train the control model to be trained, when it is determined that the unmanned equipment is in the running state, then obtain the driving information of the unmanned equipment Data, through the trained control model, determine the control parameters at the current moment, and control the unmanned equipment according to the control parameters at the current moment. Through the above content, the unmanned equipment can train the control model. When the unmanned equipment is running, according to the current driving data, the control parameters are determined through the control model, so as to realize the lateral control of the unmanned equipment according to the control parameters.

Description

technical field [0001] This description relates to the field of unmanned driving technology, and in particular to methods and devices for controlling unmanned equipment. Background technique [0002] When the unmanned equipment is driving, a trajectory can usually be planned for the unmanned equipment, so as to control the unmanned equipment to travel according to the planned trajectory. [0003] The control of the unmanned equipment may include lateral control, that is, how to control the steering wheel of the unmanned equipment so that the unmanned equipment can travel along the planned trajectory. Aiming at this problem, the existing technology provides a lateral control scheme based on Model-free adaptive control (MFAC), which converts the lateral control problem into a preview deviation angle tracking problem, where the preview deviation The angle is the angle formed by the extension line of the running direction of the unmanned equipment and the specified straight lin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王志超张晓飞颜诗涛赵博林许笑寒田润张杨宇陈鸿帅任冬淳樊明宇夏华夏
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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