A response delay compensation method and related components

Abstract

The present invention discloses a response delay compensation method and related components, which are applied to the control field. The method includes determining a first correspondence between a command signal output from a vehicle controller to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time; determining a response delay between the command signal and the response signal based on the first correspondence; determining a compensation relationship based on the response delay; before sending the current command signal to the actuator, converting the current command signal into an input signal based on the compensation relationship, wherein the response delay corresponding to the input signal is less than a preset value; and inputting the input signal into the actuator instead of the current command signal. By pre-adjusting the signal input to the actuator, the response delay between the controller and the actuator can be made close to zero, and the response signal can be made close to the command signal, thereby enabling the controller to more accurately control the actuator.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to a response delay compensation method and related components. Background Art

[0002] Due to delays in the response of autonomous vehicle motion actuators, which include motors, gasoline / diesel engines, electronic hydraulic / pneumatic brakes, and electric steering mechanisms, this delay is the time between the vehicle's main controller issuing a command and receiving the state value fed back by the motion actuator. This delay includes the communication delay from the vehicle's main controller issuing the command to the actuator receiving the command, the actuator's own response delay, and the communication delay from the actuator's feedback to the vehicle's main controller and then receiving the state value. This makes it difficult for the vehicle to achieve precise trajectory tracking control during motion control. To improve the actuator's response speed and accuracy, response delay has become a pressing issue that needs to be addressed. Summary of the Invention

[0003] The purpose of the present invention is to provide a response delay compensation method and related components, so that the response delay between the controller and the actuator approaches zero, the response signal approaches the command signal, and the controller can control the actuator more accurately.

[0004] To solve the above technical problems, the present invention provides a method for compensating response delay, comprising:

[0005] determining a first correspondence between a command signal output by a controller of a vehicle to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, the command signal representing a command sent by the controller to the actuator, and the response signal representing a state of the vehicle after the actuator executes the command signal;

[0006] determining a response delay between the command signal and the response signal according to the first corresponding relationship;

[0007] determining a compensation relationship according to the response delay;

[0008] Before sending the current command signal to the actuator, converting the current command signal into an input signal according to the compensation relationship, wherein the response delay corresponding to the input signal is less than a preset value;

[0009] The input signal is input to the actuator instead of the current command signal.

[0010] As a preferred embodiment, after determining a first correspondence between a command signal output by a vehicle controller to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, the method further includes:

[0011] With time as the abscissa and the command value of the command signal as the ordinate, the command signal and time are fitted to determine a second corresponding relationship between the command signal and time.

[0012] As a preferred embodiment, the second corresponding relationship is x r (t)≈f(t)=α0+α1t+α2t 3 +α3t 3 +α4t 4 +α5t 5 +α6t 6 +...+α n t n , where f(t) is the command value of the command signal at time t, α0, α1, α2, α3, α4, α5, α6 to α n are the coefficients of the fitting polynomial, x r (t) is the command value of the command signal at time t, and n is a positive integer.

[0013] As a preferred embodiment, before determining the first correspondence between the command signal output by the vehicle controller to the actuator of the vehicle within a preset time and the response signal returned by the actuator to the controller, the method further includes:

[0014] Get the command signal u1, ..., u N , N is the number of sampling points of the command signal and the response signal, and N is a positive integer;

[0015] Get the response signal x1,...,x N , the response signal corresponds to the command signal one by one;

[0016] Determine a first corresponding relationship according to the command signal and the response signal Where X(s) is the Laplace transform image function of the response signal sequence, U(s) is the Laplace transform image function of the command signal sequence, T p is the inertia time constant, T p is positively correlated with the response time of the actuator, T d It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the executor receiving the command signal, the delay time for the executor to execute the action of the command signal, and the communication delay time from the executor returning the response signal to the controller receiving the response signal.

[0017] As a preferred embodiment, after determining the compensation relationship according to the response delay, the method further includes:

[0018] Determine a third corresponding relationship between the response signal and the input signal based on the first corresponding relationship Where x(t) is the state value of the response signal at time t, is the derivative of the state value of the response signal at time t, u(th) is the value of the input signal at time th, t is the time variable, h=T d .

[0019] As a preferred embodiment, the response deviation between the command signal and the response signal is e(t)=x(t)-x r (t), e(t) is the response deviation at time t, x r (t) is the command value of the command signal at time t.

[0020] As a preferred embodiment, after determining a third corresponding relationship between the response signal and the input signal according to the first corresponding relationship, the method further includes:

[0021] Derivative the response deviation and obtain according to the third corresponding relationship in is the derivative of the response deviation at time t, is the derivative of the command value of the command signal at time t.

[0022] As a preferred embodiment, converting the current command signal into an input signal according to the compensation relationship includes:

[0023] Convert the current command signal into an input signal according to the compensation relationship is input to the actuator, where u(t) is the value of the input signal at time t, e(t) is the response deviation at time t, and f(t+h) is the command value of the command signal at time t+h. is the derivative of the command value of the command signal at time t+h, k is the gain coefficient of the controller, T p is the inertia time constant, h=T d , T d It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the executor receiving the command signal, the delay time for the executor to execute the action of the command signal, and the communication delay time from the executor returning the response signal to the controller receiving the response signal.

[0024] As a preferred embodiment, a compensation module is provided to convert the command signal into an input signal After inputting into the actuator, it also includes:

[0025] Determine the response deviation model corresponding to the input signal according to the input signal: in is the derivative of the response deviation at time t.

[0026] As a preferred embodiment, after determining the response deviation corresponding to the input signal according to the input signal, the method further includes:

[0027] Design parameter P according to the response deviation model corresponding to the input signal and construct Laypunov function Among them, e T (t) is the transpose of e(t), is the transpose of the derivative of the response deviation at time r, is the derivative of the response deviation at time r, e 2β(r-t) is an exponential function, P, Q and β are variables greater than 0;

[0028] Solve the linear matrix inequality derived from the Laypunov function to obtain the parameter P;

[0029] The value of the gain coefficient k of the controller is determined according to the value of the parameter P.

[0030] To solve the above technical problems, the present invention further provides a response delay compensation system, comprising:

[0031] a first determining unit, configured to determine a first correspondence between a command signal output by a controller of the vehicle to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, wherein the command signal represents a command sent by the controller to the actuator, and the response signal represents a state of the vehicle after the actuator executes the command signal;

[0032] a second determining unit, configured to determine a response delay between the command signal and the response signal according to the first corresponding relationship;

[0033] a third determining unit, configured to determine a compensation relationship according to the response delay;

[0034] a compensation unit, configured to convert the current command signal into an input signal according to the compensation relationship before sending the current command signal to the actuator, wherein the response delay corresponding to the input signal is less than a preset value;

[0035] The input unit is configured to input the input signal into the actuator instead of the current command signal.

[0036] In order to solve the above technical problems, the present invention further provides a response delay compensation device, comprising:

[0037] memory for storing computer programs;

[0038] A processor is configured to implement the steps of the above-mentioned response delay compensation method when executing the computer program.

[0039] In order to solve the above technical problem, the present invention further provides a controller including the above response delay compensation device.

[0040] In order to solve the above technical problems, the present invention also provides a vehicle including the above controller.

[0041] To solve the above technical problem, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned response delay compensation method are implemented.

[0042] The present application provides a response delay compensation method and related components, which are applied to the control field, including determining a first correspondence between a command signal output by a vehicle controller to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time; determining a response delay between the command signal and the response signal based on the first correspondence; determining a compensation relationship based on the response delay; before sending the current command signal to the actuator, converting the current command signal into an input signal based on the compensation relationship, wherein the response delay corresponding to the input signal is less than a preset value; and inputting the input signal into the actuator instead of the current command signal. By pre-adjusting the signal input to the actuator, the response delay between the controller and the actuator can be made close to zero, and the response signal can be made close to the command signal, thereby enabling the controller to more accurately control the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the prior art and the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A flow chart of a response delay compensation method provided by the present invention;

[0045] Figure 2 A schematic structural diagram of a response delay compensation system provided by the present invention;

[0046] Figure 3This is a structural schematic diagram of a response delay compensation device provided by the present invention. DETAILED DESCRIPTION

[0047] The core of the present invention is to provide a response delay compensation method and related components, so that the response delay between the controller and the actuator approaches zero, the response signal approaches the command signal, and the controller can control the actuator more accurately.

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0049] Due to delays in the response of autonomous vehicle motion actuators, which include motors, gasoline / diesel engines, electronic hydraulic / pneumatic brakes, and electric steering mechanisms, this delay is the time between the vehicle's main controller issuing a command and receiving the state value fed back by the motion actuator. This delay includes the communication delay from the vehicle's main controller issuing the command to the actuator receiving the command, the actuator's own response delay, and the communication delay from the actuator's feedback to the vehicle's main controller and then receiving the state value. This makes it difficult for the vehicle to achieve precise trajectory tracking control during motion control. To improve the actuator's response speed and accuracy, response delay has become a pressing issue that needs to be addressed.

[0050] Figure 1 A flow chart of a response delay compensation method provided by the present invention, the method comprising:

[0051] S11: determining a first correspondence between a command signal output by a controller of the vehicle to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, wherein the command signal represents a command sent by the controller to the actuator, and the response signal represents a state of the vehicle after the actuator executes the command signal;

[0052] S12: determining a response delay between the command signal and the response signal according to the first corresponding relationship;

[0053] Considering the inherent communication delay between the controller sending the command signal to the actuator, there is also a delay between the actuator receiving the command signal and responding. Furthermore, there is also a delay between the actuator sending the response signal back to the controller. Because of these inherent delays, the response signal cannot be close to the command signal.

[0054] Therefore, in order to solve the delay problem, we must first determine how long the delay is. Therefore, this application determines the relationship between the command signal and the corresponding signal, and then obtains the response delay between the command signal and the corresponding signal.

[0055] Specifically, the command signal can be a value such as 1, 2, 3 as a command, and the response signal is the feedback status. Ideally, the response signal should be the same as the command signal, but due to the response delay factor, the response signal is different from the command signal.

[0056] S13: Determine a compensation relationship based on the response delay;

[0057] S14: before sending the current command signal to the actuator, convert the current command signal into an input signal according to the compensation relationship, and the response delay corresponding to the input signal is less than a preset value;

[0058] S15: The input signal replaces the current command signal and is input to the actuator.

[0059] Since there will inevitably be a problem of response delay during the signal transmission process, the present application pre-processes the command signal input to the actuator. The command signal is compensated by the compensation module. The input signal input to the actuator can not only meet the normal control of the actuator, but also offset the response delay, so that after the input signal is input to the actuator, the controller obtains the actuator's response signal close to the control signal sent. The command signal is input to the compensation module, and the compensation module converts the command signal into an input signal and outputs it to the actuator, so that the actuator responds to the input signal and returns a response signal to the controller. The returned response signal is equal to the command signal output by the controller.

[0060] The present application provides a response delay compensation method, which is applied to the control field, including obtaining a first correspondence between a command signal output by a vehicle controller to an actuator of the vehicle and a response signal returned by the actuator to the controller, wherein the command signal represents the command sent by the controller to the actuator, and the response signal represents the state of the vehicle after the actuator executes the command signal; determining the response delay between the command signal and the response signal according to the first correspondence; setting a compensation module to convert the command signal into an input signal input to the actuator, wherein the response delay corresponding to the input signal is less than a preset value; and inputting the input signal into the actuator instead of the command signal. The compensation module is set to process the command signal to obtain an input signal, and the signal input to the actuator is adjusted in advance, so that the response delay between the controller and the actuator can be close to zero, and the response signal can be close to the command signal, so that the controller can control the actuator more accurately.

[0061] Based on the above embodiment:

[0062] As a preferred embodiment, after determining a first correspondence between a command signal output by a vehicle controller to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, the method further includes:

[0063] With time as the abscissa and the command value of the command signal as the ordinate, the command signal and time are fitted to determine a second corresponding relationship between the command signal and time.

[0064] Considering that the command signal is a discrete signal, that is, the command signal only exists at certain points, in order to facilitate data processing, the discrete command signal is converted into a continuous command signal, and then there is a corresponding command value of the command signal at each time t.

[0065] Specifically, time is used as the horizontal coordinate and the instruction data of the instruction signal is used as the vertical coordinate, which are plotted on the coordinate axis and then fitted into a curve to obtain the second corresponding relationship between the instruction signal and time.

[0066] As a preferred embodiment, the second corresponding relationship is x r (t)≈f(t)=α0+α1t+α2t 3 +α3t 3 +α4t 4 +α5t 5 +α6t 6 +...+α n t n , where f(t) is the command value of the command signal at time t, α0, α1, α2, α3, α4, α5, α6 to α n are the coefficients of the fitted polynomial, x r (t) is the command value of the command signal at time t, and n is a positive integer.

[0067] Generally speaking, the higher the number of fitting times, the more calculations will be done, and the fitting curve will be closer to the original data point sequence. For example, the second corresponding relationship obtained by fitting 6 times is x r (t)≈f(t)=α0+α1t+α2t 3 +α3t 3 +α4t 4 +α5t 5 +α6t 6 The final second correspondence is also related to the number of fitting times. During the experiment, this application uses 6 times as the number of fitting times.

[0068] In addition, the second corresponding relationship obtained according to the actual situation can be compared with the actual change trend, and the most appropriate number of fitting times can be taken. This application does not make too many restrictions here.

[0069] As a preferred embodiment, before determining the first correspondence between the command signal output by the vehicle controller to the actuator of the vehicle and the response signal returned by the actuator to the controller within a preset time, the method further includes:

[0070] Get command signal u1,...,u N , N is the number of sampling points of the command signal and the response signal, N is a positive integer;

[0071] Get the response signal x1,...,x N , the response signal corresponds to the command signal one by one;

[0072] Determine a first corresponding relationship according to the command signal and the response signal Where X(s) is the Laplace transform image function of the response signal sequence, U(s) is the Laplace transform image function of the command signal sequence, T p is the inertia time constant, T p It is positively correlated with the response time of the responder, T d It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the actuator receiving the command signal, the delay time for the actuator to execute the action of the command signal, and the communication delay time from the actuator returning the response signal to the controller receiving the response signal.

[0073] It's understandable that each time the controller issues a command signal, it receives a response signal from the actuator, resulting in a one-to-one correspondence between command and response signals. Given N command signals and N response signals, we can derive the actuator's input-output transfer function, where X(s) represents the actuator's output and U(s) represents its input. The first correspondence, G(s), is the transfer function for the actuator's response.

[0074] As a preferred embodiment, after determining the compensation relationship according to the response delay, the method further includes:

[0075] Determine a third corresponding relationship between the response signal and the input signal based on the first corresponding relationship Where x(t) is the state value of the response signal at time t, is the derivative of the state value of the response signal at time t, u(th) is the value of the input signal at time th, t is the time variable,

[0076] After setting up the compensation module, if you want to know how the compensation module should specifically process the command signal, you need to determine the relationship between the input signal output by the compensation module and the response signal output by the corresponding actuator after setting up the compensation module.

[0077] It is understandable that delay is inevitable, so the compensation module wants to make the response signal corresponding to the input signal approach the command signal, which is to offset the response delay. Therefore, the subsequent calculations are performed after obtaining the third corresponding relationship between the response signal and the input signal in advance.

[0078] As a preferred embodiment, the response deviation between the command signal and the response signal is e(t)=x(t)-x r (t), e(t) is the response deviation at time t, x r (t) is the command value of the command signal at time t.

[0079] As a preferred embodiment, after determining the third corresponding relationship between the response signal and the input signal according to the first corresponding relationship, the method further includes:

[0080] Derivative the response deviation and determine it according to the third correspondence in is the derivative of the response deviation at time t, is the derivative of the command value of the command signal at time t.

[0081] After determining the relationship between the response deviation, the command signal, and the response signal, the corresponding relationship between the response signal and the input signal is substituted into the response deviation to obtain the relationship between the response deviation and the response signal, the input signal, and the output signal. Since the command signal is fitted, the fitted polynomial is used to replace the command signal. The process of determining the input signal then involves determining the input signal value that results in a response delay of zero.

[0082] As a preferred embodiment, converting the current command signal into an input signal according to the compensation relationship includes:

[0083] Convert the current command signal into input signal according to the compensation relationship Input to the actuator, where u(t) is the value of the input signal at time t, e(t) is the response deviation at time t, and f(t+h) is the command value of the command signal at time t+h. is the derivative of the command value of the command signal at time t+h, k is the gain coefficient of the controller, T p is the inertia time constant, h=T d , T d It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the actuator receiving the command signal, the delay time for the actuator to execute the action of the command signal, and the communication delay time from the actuator returning the response signal to the controller receiving the response signal;

[0084] As a preferred embodiment, a compensation module is provided to convert the command signal into an input signal After the input to the actuator, it also includes:

[0085] According to the input signal, the response deviation model corresponding to the input signal is determined as follows: in is the derivative of the response deviation at time t.

[0086] Set the input signal to The first term ke(t) multiplies the controller gain coefficient k by the error to ensure the stability of the response deviation model. The second and third terms This is to satisfy the response deviation relationship:

[0087] By adjusting the derivative of the response deviation, the response deviation is indirectly controlled to approach 0, and the response signal can be equal to the command signal.

[0088] As a preferred embodiment, after determining the response deviation model corresponding to the input signal according to the input signal, the method further includes:

[0089] Design parameter P according to the response deviation model corresponding to the input signal and construct the Laypunov function Among them, e T (t) is the transpose of e(t), is the transpose of the derivative of the response deviation at time r, is the derivative of the response deviation at time r, e 2β(r-t) is an exponential function, P, Q and β are variables greater than 0;

[0090] Solve the linear matrix inequality derived from the Laypunov function to obtain the parameter P;

[0091] The value of the controller gain coefficient k is determined according to the value of the parameter P.

[0092] Where P>0, Q>0, β>0. Through Lyapunov stability analysis, we define e(t+h)=e(t)+w(t). Taking the derivative of the Laypunov function, we can get:

[0093] in When Ω<0, At this time, the system is stable. When Ω<0, that is:

[0094] To simplify the calculation, let Q = γP, γ>0 is a constant, and W = Pk, then the following linear matrix inequality can be equivalently transformed:

[0095] The parameter γ is a positive constant that needs to be set in advance. W and P are the parameters obtained by solving the above linear matrix inequality. In the process of transformation, we make the assumption that W = Pk, so we can get k = P -1 W, P and W can be obtained by solving, so the controller gain coefficient k is expressed as: k = P -1 W.

[0096] Figure 2 A schematic structural diagram of a response delay compensation system provided by the present invention, the system comprising:

[0097] a first determining unit 21 for determining a first correspondence between a command signal output by a vehicle controller to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time period, wherein the command signal represents a command sent by the controller to the actuator, and the response signal represents a state of the vehicle after the actuator executes the command signal;

[0098] A second determining unit 22 is configured to determine a response delay between the command signal and the response signal according to the first corresponding relationship;

[0099] A third determining unit 23 is configured to determine a compensation relationship according to the response delay;

[0100] The compensation unit 24 is used to convert the current command signal into an input signal according to the compensation relationship before sending the current command signal to the actuator, and the response delay corresponding to the input signal is less than a preset value;

[0101] The input unit 25 is used to replace the current command signal with an input signal and input it to the actuator.

[0102] Also includes:

[0103] The fitting unit is used to fit the command signal and time with time as the horizontal coordinate and the command value of the command signal as the vertical coordinate to determine a second corresponding relationship between the command signal and time.

[0104] The second corresponding relationship is x r (t)≈f(t)=α0+α1t+α2t 3 +α3t 3 +α4t 4 +α5t 5 +α6t 6 +...+α n t n , where f(t) is the command value of the command signal at time t, α0, α1, α2, α3, α4, α5, α6 to α n are the coefficients of the fitted polynomial, x r (t) is the command value of the command signal at time t, and n is a positive integer.

[0105] The first acquisition unit acquires the instruction signal u1, ..., u N , N is the number of sampling points of the command signal and the response signal, N is a positive integer;

[0106] The second acquisition unit acquires the response signals x1, ..., x N , the response signal corresponds to the command signal one by one;

[0107] The first determining unit 21 is specifically configured to determine a first corresponding relationship according to the command signal and the response signal Where X(s) is the Laplace transform image function of the response signal sequence, U(s) is the Laplace transform image function of the command signal sequence, T p is the inertia time constant, T p It is positively correlated with the response time of the responder, T d It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the actuator receiving the command signal, the delay time for the actuator to execute the action of the command signal, and the communication delay time from the actuator returning the response signal to the controller receiving the response signal.

[0108] A fourth determining unit, configured to determine a third corresponding relationship between the response signal and the input signal based on the first corresponding relationship Where x(t) is the state value of the response signal at time t, is the derivative of the state value of the response signal at time t, u(th) is the value of the input signal at time th, t is the time variable, h=T d .

[0109] The response deviation between the command signal and the response signal is e(t) = x(t) - x r (t), e(t) is the response deviation at time t, x r (t) is the command value of the command signal at time t;

[0110] The fifth determining unit is configured to derive the response deviation and determine the in is the derivative of the response deviation at time t, is the derivative of the command value of the command signal at time t.

[0111] The compensation unit 24 is specifically used to convert the current command signal into an input signal according to the compensation relationship Input to the actuator, where u(t) is the value of the input signal at time t, e(t) is the response deviation at time t, and f(t+h) is the command value of the command signal at time t+h. is the derivative of the command value of the command signal at time t+h, k is the gain coefficient of the controller, T p is the inertia time constant, h=T d , T d It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the actuator receiving the command signal, the delay time for the actuator to execute the action of the command signal, and the communication delay time from the actuator returning the response signal to the controller receiving the response signal;

[0112] The sixth determining unit determines, according to the input signal, a response deviation model corresponding to the input signal: in is the derivative of the response deviation at time t.

[0113] A design unit, for designing a parameter P according to a response deviation model corresponding to an input signal;

[0114] Constructing units, constructing Laypunov functions Among them, e T (t) is the transpose of e(t), is the transpose of the derivative of the response deviation at time r, is the derivative of the response deviation at time r, e 2β(r-t) is an exponential function, P, Q, and β are variables greater than 0, and solve for P;

[0115] A solving unit, used to solve the linear matrix inequality derived from the Laypunov function to obtain the parameter P;

[0116] The seventh determining unit is used to determine the value of the gain coefficient k of the controller according to the value of the parameter P.

[0117] Figure 3 A schematic structural diagram of a response delay compensation device provided by the present invention, the device comprising:

[0118] Memory 31, for storing computer programs;

[0119] The processor 32 is configured to implement the steps of the above-mentioned response delay compensation method when executing a computer program.

[0120] For an introduction to the response delay compensation device provided in this application, please refer to the above embodiments and will not be repeated here.

[0121] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0122] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0123] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0124] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for compensating response delay, characterized in that: include: determining a first correspondence between a command signal output by a controller of a vehicle to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, the command signal representing a command sent by the controller to the actuator, and the response signal representing a state of the vehicle after the actuator executes the command signal; determining a response delay between the command signal and the response signal according to the first corresponding relationship; determining a compensation relationship according to the response delay; Before sending the current command signal to the actuator, converting the current command signal into an input signal according to the compensation relationship, wherein the response delay corresponding to the input signal is less than a preset value; inputting the input signal to the actuator instead of the current command signal; Converting the current command signal into an input signal according to the compensation relationship includes: Convert the current command signal into an input signal according to the compensation relationship ,in is the value of the input signal at time t, is the response deviation at time t, is the command value of the command signal at time t+h, is the derivative of the command value of the command signal at time t+h, k is the gain coefficient of the controller, , , is the inertia time constant, , It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the executor receiving the command signal, the delay time from the executor executing the action of the command signal, and the communication delay time from the executor returning the response signal to the controller receiving the response signal; The response deviation model corresponding to the input signal is: ,in is the derivative of the response deviation at time t; After determining the response deviation model corresponding to the input signal according to the input signal, the method further includes: Design parameter P according to the response deviation model corresponding to the input signal and construct Laypunov function ,in, for The transpose of is the transpose of the derivative of the response deviation at time r, is the derivative of the response deviation at time r, is an exponential function, P, Q and β are variables greater than 0; Solve the linear matrix inequality derived from the Laypunov function to obtain the parameter P; Determine the value of the gain coefficient k of the controller according to the value of the parameter P; The expression of the linear matrix inequality is: ； Among them, the parameters is a positive constant, W and P are parameters obtained by solving the linear matrix inequality; The numerical expression of the controller gain coefficient k is: .

2. The response delay compensation method according to claim 1, wherein: After determining a first correspondence between a command signal output by a controller of a vehicle to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, the method further includes: With time as the abscissa and the command value of the command signal as the ordinate, the command signal and time are fitted to determine a second corresponding relationship between the command signal and time.

3. The response delay compensation method according to claim 2, wherein: The second corresponding relationship is ,in is the command value of the command signal at time t, 、 、 、 、 、 、 to are the coefficients of the fitting polynomial, is the command value of the command signal at time t, and n is a positive integer.

4. The response delay compensation method according to claim 1, wherein: Before determining a first correspondence between a command signal output by a controller of a vehicle to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, the method further includes: Get the command signal ,..., , N is the number of sampling points of the command signal and the response signal, and N is a positive integer; Get the response signal ,..., , the response signal corresponds to the command signal one by one; Determine a first corresponding relationship according to the command signal and the response signal ,in is the Laplace transform image function of the response signal sequence, is the Laplace transform image function of the sequence of command signals, is the inertia time constant, is positively correlated with the response time of the responder, It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the executor receiving the command signal, the delay time for the executor to execute the action of the command signal, and the communication delay time from the executor returning the response signal to the controller receiving the response signal.

5. The response delay compensation method according to claim 4, wherein: After determining the compensation relationship according to the response delay, the method further includes: Determine a third corresponding relationship between the response signal and the input signal based on the first corresponding relationship ,in is the state value of the response signal at time t, is the derivative of the state value of the response signal at time t, is the value of the input signal at time th, t is the time variable, , , .

6. The response delay compensation method according to claim 5, wherein: The response deviation between the command signal and the response signal is , is the response deviation at time t, is the command value of the command signal at time t.

7. The response delay compensation method according to claim 6, wherein: After determining a third corresponding relationship between the response signal and the input signal according to the first corresponding relationship, the method further includes: Derivative the response deviation and obtain according to the third corresponding relationship ,in is the derivative of the response deviation at time t, is the derivative of the command value of the command signal at time t.

8. A response delay compensation system, characterized in that: include: a first determining unit, configured to determine a first correspondence between a command signal output by a controller of the vehicle to an actuator of the vehicle and a response signal returned by the actuator to the controller within a preset time, wherein the command signal represents a command sent by the controller to the actuator, and the response signal represents a state of the vehicle after the actuator executes the command signal; a second determining unit, configured to determine a response delay between the command signal and the response signal according to the first corresponding relationship; a third determining unit, configured to determine a compensation relationship according to the response delay; a compensation unit, configured to convert the current command signal into an input signal according to the compensation relationship before sending the current command signal to the actuator, wherein the response delay corresponding to the input signal is less than a preset value; an input unit, configured to input the input signal into the actuator instead of the current command signal; The compensation unit is specifically used to convert the current command signal into an input signal according to the compensation relationship ,in is the value of the input signal at time t, is the response deviation at time t, is the command value of the command signal at time t+h, is the derivative of the command value of the command signal at time t+h, k is the gain coefficient of the controller, , , is the inertia time constant, , It is a combination of one or more of the following: the communication delay time from the controller sending the command signal to the executor receiving the command signal, the delay time from the executor executing the action of the command signal, and the communication delay time from the executor returning the response signal to the controller receiving the response signal; Also includes: The response deviation model corresponding to the input signal is: ,in is the derivative of the response deviation at time t; A design unit, for designing a parameter P according to a response deviation model corresponding to an input signal; A construction unit is used to design parameters P of the response deviation model corresponding to the input signal and construct a Laypunov function. ,in, for The transpose of is the transpose of the derivative of the response deviation at time r, is the derivative of the response deviation at time r, is an exponential function, P, Q and β are variables greater than 0; A solving unit, used to solve the linear matrix inequality derived from the Laypunov function to obtain the parameter P; a seventh determining unit, configured to determine a value of a gain coefficient k of the controller according to a value of the parameter P; The expression of the linear matrix inequality is: ； Among them, the parameters is a positive constant, W and P are parameters obtained by solving the linear matrix inequality; The numerical expression of the controller gain coefficient k is: .

9. A response delay compensation device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the response delay compensation method according to any one of claims 1 to 7 when executing the computer program.

10. A controller, characterized in that: The device comprises the response delay compensation device as claimed in claim 9.

11. A vehicle, characterized in that: Comprising the controller of claim 10.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the response delay compensation method according to any one of claims 1 to 7.

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