The invention relates to an event triggering MPC automatic driving vehicle collision avoidance method based on a neural network, and belongs to the technical field of automatic driving vehicle collision avoidance. The method includes: acquiring whether an obstacle exists based on a sensing module; when the obstacle exists, judging a path planning trigger condition; when a path planning triggering condition is met, training a neural network based on the vehicle state data to obtain vehicle disturbance compensation, and adding the vehicle disturbance compensation to the vehicle dynamics model; and designing an MPC obstacle avoidance trajectory planner for the vehicle dynamics model based on a cost function and constraint conditions, and outputting a planning reference trajectory. According to the method, interference compensation is added in the vehicle nominal model, the modeling precision is improved, the triggering frequency is reduced, and the calculated amount is reduced. Compared with a traditional event triggering MPC method, the event triggering MPC based on the neural network can reduce the triggering frequency and reduce the tracking error.

    本发明涉及一种基于神经网络的事件触发MPC自动驾驶车辆避碰方法,属于自动驾驶车辆避碰技术领域。包括:基于传感模块获取是否存在障碍物;当存在障碍物时,对路径规划触发条件进行判定;当满足路径规划触发条件时,基于车辆状态数据训练神经网络得到车辆扰动补偿,将所述车辆扰动补偿添加到车辆动力学模型;基于代价函数和约束条件对所述车辆动力学模型设计MPC避障轨迹规划器,输出规划参考轨迹。本发明在车辆标称模型中加入干扰补偿,提高了建模精度,降低了触发频率,减少了计算量。与传统事件触发MPC方法相比,基于神经网络的事件触发MPC可以减少触发次数,减小跟踪误差。


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    Titel :

    Event-triggered MPC automatic driving vehicle collision avoidance method based on neural network


    Weitere Titelangaben:

    基于神经网络的事件触发MPC自动驾驶车辆避碰方法


    Beteiligte:
    CHEN YIMIN (Autor:in) / HE HUIHUI (Autor:in) / GAO JIAN (Autor:in) / HAO SHAOWEN (Autor:in) / SONG YUNXUAN (Autor:in) / WANG JIARUN (Autor:in)

    Erscheinungsdatum :

    20.12.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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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