Lateral control method and device for unmanned driving equipment
A technology of unmanned driving equipment and lateral control, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control, etc., can solve the problems of poor control accuracy and inaccurate model establishment, and achieve improvement The effect of control precision
Active Publication Date: 2021-11-30
BEIJING SANKUAI ONLINE TECH CO LTD
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[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
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[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.
...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
This specification discloses a lateral control method and device for unmanned driving equipment, by acquiring control data and status data of unmanned equipment at several historical moments, as well as status data at the current moment. And input the obtained control data and state data into the extreme learning machine, and determine the first weight value and the second weight value at the current moment. Afterwards, according to the first weight value and the second weight value at the current moment, at least part of the control data at the historical moment, the status data and the status data at the current moment, determine the control data at the current moment, and control the Driving with unmanned equipment. The first weight value and the second weight value at the current moment are learned by the extreme learning machine, and the control data at the current moment is determined based on the first weight value, the second weight value, and the control data and state data at the historical moment, avoiding the model Establishing the impact of inaccuracies on control decisions improves control accuracy.
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...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
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