Transverse control method for unmanned equipment and device thereof
A technology of unmanned driving equipment and lateral control, applied in two-dimensional position/channel control, non-electric variable control, control/adjustment system, etc., can solve problems such as poor control accuracy and inaccurate model establishment, and achieve improved The effect of control precision
Active Publication Date: 2021-09-03
BEIJING SANKUAI ONLINE TECH CO LTD
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[0006] The embodiment of this specification provides a method and device for lateral control of unmanned equipment, which is used to partially solve the problem in the prior art that the model is not accurately established due to the influence of the environment, resulting in poor control accuracy
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[0052] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this application 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 of the present application, rather than all the embodiments. Based on the embodiments in the description, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present application.
[0053] The motion control of unmanned driving equipment can be divided into two aspects: lateral control and longitudinal control. Among them, the longitudinal control realizes the precise following of the desired vehicle speed through the coordination of the accelerator and the brake, and the lateral control realizes Accurate tracking of desired trajectories.
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The invention discloses a transverse control method for unmanned equipment and a device thereof, and the method comprises the steps: obtaining the control data and state data of the unmanned equipment at a plurality of historical moments, and the state data of the current moment; inputting the obtained control data and state data into an extreme learning machine, and determining a first weight and a second weight at the current moment; and then, according to the first weight and the second weight of the current moment, the control data and the state data of at least part of the historical moments and the state data of the current moment, determining the control data of the current moment, and according to the control data of the current moment, controlling the driving of the unmanned equipment. The first weight and the second weight at the current moment are learned through an extreme learning machine, and the control data at the current moment are determined based on the first weight, the second weight and the control data and the state data at the historical moment, so that the influence of inaccurate model establishment on a control decision is avoided, and the control accuracy is improved.
Description
technical field [0001] The present application relates to the technical field of unmanned driving, and in particular to a method and device for lateral control of unmanned equipment. Background technique [0002] The control problem of unmanned driving equipment is one of the main research directions of unmanned driving technology. The control of unmanned equipment can be divided into two aspects: lateral control and longitudinal control. The lateral control is mainly used for the control of the steering system of the unmanned equipment, and the longitudinal control is mainly used for the control of the power and braking system of the unmanned equipment. The two work together to keep the unmanned vehicle on a planned trajectory. [0003] Among them, lateral control directly determines the performance of unmanned equipment trajectory tracking, so lateral control is more important. [0004] At present, one of the common lateral control methods is based on the Model Predictiv...
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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 王志超任冬淳张晓飞颜诗涛
Owner BEIJING SANKUAI ONLINE TECH CO LTD