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Online updating method and device for automatic driving vehicle model

A vehicle model and automatic driving technology, applied in the computer field, can solve the problems of difficult acquisition of dynamic parameters and poor control effect of the control system, and achieve the effect of improving robustness and control accuracy

Pending Publication Date: 2021-12-03
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For non-standard low-speed unmanned delivery vehicles, it is difficult to obtain various dynamic parameters. Generally, the kinematic model is directly used as the vehicle reference model. Under the scene, the control effect of the control system will be deteriorated

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  • Online updating method and device for automatic driving vehicle model
  • Online updating method and device for automatic driving vehicle model
  • Online updating method and device for automatic driving vehicle model

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Embodiment Construction

[0085] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0086] The problem to be solved by the present invention is to generate online a vehicle motion system reference model that matches the real model of the vehicle based on information such as the current state of the vehicle and road conditions, thereby realizing adaptive control of the vehicle and improving the robustness and control accuracy of the control system. Vehicle...

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Abstract

The invention discloses an online updating method and device for an automatic driving vehicle model, and relates to the technical field of computers. A specific embodiment of the method comprises the following steps: constructing an off-line vehicle model based on a least square method, and taking the off-line vehicle model as an initial value of an on-line updated vehicle model; collecting input data and output data of the vehicle model, wherein the output data is data generated in the driving process of the vehicle according to the input data; and updating model parameters of the vehicle model online based on the input data and the output data so as to update the vehicle model online. According to the embodiment, the vehicle model is constructed offline based on the least square method so as to realize self-adaptive control of the vehicle, and the robustness and the control precision of the control system are improved.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to an online updating method and device for an automatic driving vehicle model. Background technique [0002] The vehicle motion system is a strongly nonlinear system. To establish an accurate vehicle reference model routinely, it is necessary to consider vehicle lateral dynamics, longitudinal dynamics, tire mechanics, road friction and so on. In fact, even if the establishment of the complex model is completed, due to its complexity and nonlinear nature, the solution process such as linearization processing is extremely complicated, so it needs to be simplified, but the complex model needs to be simplified Although the problem of solution can be solved, it may deviate from the essence of the vehicle motion system, leading to the instability of the control system. Now the controllers of vehicle control systems generally use model-based control algorithms, so how to establish an a...

Claims

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Application Information

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IPC IPC(8): G05B13/04B60W50/00B60W60/00G06F17/16G06F17/18
CPCG05B13/045B60W50/00B60W60/00G06F17/16G06F17/18B60W2050/0031
Inventor 边学鹏张亮亮
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD