The invention discloses an anthropomorphic controller design method based on model predictive control, relates to the technical field of intelligent traffic, and solves the technical problem that the existing automatic driving technology is biased to homogenization and does not conform to the personalized manipulation preference of a driver. Personalized visual preview-feedback control-proportional gain-neuromuscular delay behaviors of different drivers are adopted to carry out anthropomorphic improvement on the path tracking controller, and the satisfaction degree of different drivers for vehicle manipulation is effectively improved. According to the method, personified driving of the intelligent automobile can be realized, the sense of trust and acceptance of a human driver to the intelligent automobile are improved, and the method has very high practicability and wide commercial application prospects.

    本发明公开了一种基于模型预测控制的拟人化控制器设计方法,涉及智能交通技术领域,解决了现有自动驾驶技术偏向同质化、不符合驾驶员个性化操纵偏好的技术问题,其技术方案要点是设计基于模型预测控制的路径跟踪控制器,采用不同驾驶员个性化的视觉预瞄‑反馈控制‑比例增益‑神经肌肉延迟行为对路径跟踪控制器进行拟人化改进,有效提高不同驾驶员对于车辆操纵的满意程度。该方法能够实现智能汽车的拟人化驾驶,提高人类驾驶员对于智能汽车的信任感和接受度,具有很强的实用性,以及广阔的商业应用前景。


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    Titel :

    Anthropomorphic controller design method based on model predictive control


    Weitere Titelangaben:

    一种基于模型预测控制的拟人化控制器设计方法


    Beteiligte:
    WANG JINXIANG (Autor:in) / YAN YONGJUN (Autor:in) / WANG WANG (Autor:in) / PENG LIN (Autor:in) / HU JINGYU (Autor:in) / SONG YUANG (Autor:in) / FANG ZHENWU (Autor:in) / HAN DONGMING (Autor:in) / GAO QIANG (Autor:in) / YIN GUODONG (Autor:in)

    Erscheinungsdatum :

    2022-11-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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