The invention relates to data-driven control for autonomous driving. Techniques are described to determine parameters and/or values for a control model that can be used to operate an autonomous vehicle, such as an autonomous semi-trailer truck. For example, a method of obtaining a data-driven model for autonomous driving may include obtaining data associated with a first set of variables that characterize movements of an autonomous vehicle over time and commands provided to the autonomous vehicle over time, determining, using at least the first set of data, non-zero values and an associated second set of variables that describe a control model used to perform an autonomous driving operation of the autonomous vehicle, and calculating values for a feedback controller that describes a transfer function used to perform the autonomous driving operation of the autonomous vehicle driven on a road.
本公开涉及用于自主驾驶的数据驱动控制。描述了用于确定可用于操作自主车辆(例如自主半挂车卡车)的控制模型的参数和/或值的技术。例如,获取用于自主驾驶的数据驱动模型的方法可以包括:获取与表征自主车辆随时间的运动的第一组变量和随时间提供给自主车辆的命令相关联的数据,至少使用第一组数据确定描述用于执行自主车辆的自主驾驶操作的控制模型的非零值和相关联的第二组变量,以及计算描述用于执行在道路上行驶的自主车辆的自主驾驶操作的传递函数的反馈控制器的值。
DATA-DRIVEN CONTROL FOR AUTONOMOUS DRIVING
用于自主驾驶的数据驱动控制
2022-01-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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