Nonlinear Vehicle Control via Hardware Accelerator

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Solution Overview

Problem

Current autonomous control systems for vehicles like UAVs face limitations in computation time and real-time performance, especially when dealing with external disturbances, due to the use of general-purpose processors, which can lead to errors and instability.

Innovation Solution

A configurable hardware accelerator is introduced, independent of the general-purpose processor, that implements a nonlinear control system based on a generic model of translational and rotational dynamics, allowing for high-frequency, real-time operations and robust control, with a pipeline architecture optimizing computational speed and accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If general-purpose processors are used for autonomous control, then system flexibility and ease of operation are improved, but computation time increases and real-time performance deteriorates

Engineering Contradiction:

Improvesystem flexibilityVSAvoidcomputation time

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The control system is segmented into two independent parts: a general-purpose processor for high-level autonomous control functions and a dedicated hardware accelerator for real-time control computations. This segmentation allows each component to specialize in its optimal function, with the hardware accelerator handling time-critical calculations at fixed frequencies while the general-purpose processor manages flexible decision-making.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A communication interface acts as an intermediary between the general-purpose processor and the hardware accelerator. This mediator transfers control parameters and sensor data between the two systems, enabling coordinated operation where the general-purpose processor can update control parameters without interfering with the real-time computation frequency of the hardware accelerator.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If general-purpose processors are used for autonomous control, then adaptability is improved, but reliability under external disturbances deteriorates

Engineering Contradiction:

Improvecontrol adaptabilityVSAvoidcontrol stability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system separates adaptive control parameter management (handled by the flexible general-purpose processor) from stable real-time execution (handled by the deterministic hardware accelerator). This segmentation ensures that adaptability updates do not compromise the stability of core control loops.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The hardware accelerator is designed with a fixed-frequency architecture that provides inherent protection against external disturbances. By pre-establishing a deterministic computation schedule and isolating real-time control from system interruptions, the system cushions against potential instability before disturbances can propagate.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

3Measurement precision

If high-frequency real-time operations are implemented, then control accuracy is improved, but device complexity increases

Engineering Contradiction:

Improvecontrol accuracyVSAvoidsystem architecture complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system replaces complex software-based real-time control with a dedicated hardware accelerator that performs control computations in hardware. This substitution achieves high-frequency real-time operations with deterministic timing, eliminating the need for complex scheduling and interrupt management that would otherwise be required in a software-only approach.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Loss of time

If isolated hardware architecture is used, then real-time performance is improved, but ease of operation deteriorates

Engineering Contradiction:

Improvereal-time responseVSAvoidsystem integration ease

Core Design Contradiction:

Loss of timeVSEase of operation

Solution Approach 1:

A communication interface serves as an intermediary that simplifies integration between the isolated hardware accelerator and the general-purpose processor. This mediator handles data transfer and coordination, allowing the hardware accelerator to maintain its isolated, interruption-free architecture while still receiving control parameters and sending results to the general-purpose processor for high-level decision-making.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS10372134B2Methods and apparatus to implement nonlinear control of vehicles moved using multiple motors

Publication Date: 2019.08.06 INTEL CORP

AI summary

Methods and apparatus to implement nonlinear control of vehicles moved using multiple motors, apparatus, systems and articles of manufacture are disclosed. An example apparatus includes a logic circuit configured to calculate virtual position control variables for a vehicle moved using multiple motors. The virtual position control variables calculated based on an application of a control law to position information of the vehicle. The control law is derived from a nonlinear model of movement of the vehicle. The logic circuit is configured further to calculate control inputs based on the virtual position control variables. The control inputs are to control the motors to navigate the vehicle along a designated path of movement.