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Autonomous trolley cruise control method and device

A cruise control and car technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of weak decision-making ability, poor learning efficiency, high communication cost, etc., and achieve the goal of reducing energy consumption, data transmission, and control calculation Effect

Pending Publication Date: 2022-07-15
TIANJIN UNIV
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Problems solved by technology

[0005] The inventors of the present disclosure aim at the problems existing in the above-mentioned related technologies, and provide an autonomous car cruise control method and device based on differential game and distributed dynamic triggering, to solve the unsolvable problems of high communication costs and weak decision-making ability in related technologies , poor learning efficiency and other issues, it can realize adaptive cruise under different tracking instructions

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  • Autonomous trolley cruise control method and device
  • Autonomous trolley cruise control method and device
  • Autonomous trolley cruise control method and device

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Embodiment Construction

[0065] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

[0066] It should be noted that the relative arrangement of components and steps, mathematical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise indicated. Meanwhile, it should be understood that, for the convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. The fol...

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Abstract

The invention discloses an autonomous trolley cruise control method and device which are used for solving the self-adaptive cruise control problem of an autonomous trolley system. The method comprises the following steps: constructing a cruise tracking control model based on a differential game; obtaining a control strategy based on event triggering by utilizing the evaluation network structure; determining an event triggering rule based on distributed dynamic triggering; performing error transformation on the control strategy obtained by training to realize adaptive cruise control; the device comprises a power supply battery pack, a power assembly, a controller, a memory, an event trigger and a communication assembly, according to the method, the autonomous trolley can be helped to track the cruise state more quickly and more accurately, the reinforcement learning efficiency is improved, the communication traffic and the calculation amount of a control system are reduced, and the energy consumption condition of a cruise device is effectively improved.

Description

technical field [0001] The invention relates to the technical field of automatic control and reinforcement learning, and more particularly, to a method and device for cruise control of an autonomous car. Background technique [0002] In practical automatic control systems, there are usually multiple controllers, which have different preferences and make decisions by exchanging information. Differential game-based methods have become effective tools for solving such system control problems because of the availability of modular designs and independent learning designs. Generally, by solving the Nash equilibrium of the differential game, the control strategy corresponding to the problem can be obtained. In recent years, many reinforcement learning algorithms have been proposed to approximate Nash equilibrium solutions, and event-triggered mechanisms have also been incorporated into the learning design to reduce communication costs. [0003] The autonomous car system has grad...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0253
Inventor 穆朝絮王珂邱铁刘朝阳
Owner TIANJIN UNIV
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