一种自适应动态演进的直接数据驱动车辆轨迹跟踪控制方法
By employing an adaptive dynamic evolution direct data-driven vehicle trajectory tracking control method, and utilizing local coordinate reconstruction and dual regularization techniques, the problems of nonlinearity, noise, and hard constraint conflicts in autonomous driving are solved, achieving an integrated control effect with high precision, robustness, and real-time performance.
CN122111027BActive Publication Date: 2026-07-17TONGJI UNIV
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TONGJI UNIV
- Filing Date
- 2026-04-27
- Publication Date
- 2026-07-17
Smart Images
Figure CN122111027B_ABST
Abstract
本发明提供了一种自适应动态演进的直接数据驱动车辆轨迹跟踪控制方法，包括：在车辆控制系统的每一控制周期内，根据实时采集的车辆输入输出数据序列，计算当前缓冲区内数据的线性独立性指标，并根据计算结果动态更新缓冲区数据，得到缓冲区历史数据；将缓冲区历史数据映射至以当前时刻的车辆质心为原点、车头方向为X轴的局部自车坐标系中；基于局部自车坐标系，构建包含虚拟设定点与双重正则化的预测控制优化模型，通过代数重构将其转化为二次规划问题；在线求解二次规划问题，获取局部自车坐标系下的最优控制序列，提取最优控制序列的首个控制量作为控制指令作用于车辆控制系统的转向及动力执行机构。本发明提升了车辆行驶安全性。
Need to check novelty before this filing date? Find Prior Art