Apparatus for controlling a land vehicle which is self-driving or partially self-driving, comprising a coarse tuning assembly (1, 2, 3) and a fine tuning assembly (4), the coarse tuning assembly (1, 2, 3) comprising: (a) a sensor interface (1) which measures kinematic parameters including speed and braking, (b) fuzzy descriptions which model guidance, navigation and control of the vehicle, and which include: (i) driver behavior and driving dynamics, (ii) uncertainties due to weather, road conditions and traffic, and (iii) input faults including mechanical and electrical parts, and (c) an adaptive fuzzy logic controller (3), and the fine tuning assembly (4) comprising: (a) inputs from the coarse tuning assembly (1, 2, 3), (b) precognition horizons determining how many future samples of input sensor information are required for an optimum control sequence, (c) a linearized multi-input multi-output regression model extracted from the adaptive fuzzy logic controller (3), and (d) a non-linear dynamic linearized regression controller (4a).
Apparatus for controlling a land vehicle which is self-driving or partially self-driving
2017-05-09
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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