The invention discloses an online updating method and device for an automatic driving vehicle model, and relates to the technical field of computers. A specific embodiment of the method comprises the following steps: constructing an off-line vehicle model based on a least square method, and taking the off-line vehicle model as an initial value of an on-line updated vehicle model; collecting input data and output data of the vehicle model, wherein the output data is data generated in the driving process of the vehicle according to the input data; and updating model parameters of the vehicle model online based on the input data and the output data so as to update the vehicle model online. According to the embodiment, the vehicle model is constructed offline based on the least square method so as to realize self-adaptive control of the vehicle, and the robustness and the control precision of the control system are improved.

    本发明公开了一种自动驾驶车辆模型的在线更新方法和装置,涉及计算机技术领域。该方法的一具体实施方式包括:基于最小二乘法构建离线车辆模型,并将离线车辆模型作为在线更新的车辆模型的初始值;采集车辆模型的输入数据和输出数据,输出数据是车辆根据输入数据进行行驶的过程中产生的数据;基于输入数据和输出数据在线更新车辆模型的模型参数,以在线更新车辆模型。该实施方式基于最小二乘法离线构建车辆模型以实现车辆的自适应控制,提高了控制系统的鲁棒性和控制精度。


    Access

    Download


    Export, share and cite



    Title :

    Online updating method and device for automatic driving vehicle model


    Additional title:

    自动驾驶车辆模型的在线更新方法和装置


    Contributors:

    Publication date :

    2021-12-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



    Electronic map updating method and device and automatic driving vehicle

    QU SHENGJIE / HE GUOHUA / WANG BAOJI et al. | European Patent Office | 2021

    Free access

    INFORMATION UPDATING METHOD OF AUTOMATIC DRIVING VEHICLE, DEVICE, AND STORAGE MEDIA

    CUI YUE / ZHANG YALING / TAO JI | European Patent Office | 2020

    Free access

    Map updating method and device, automatic driving control method and device, medium and vehicle

    GUO CHENGCHENG / YU SIYUAN / SONG MENGXIAO et al. | European Patent Office | 2023

    Free access


    Automatic driving algorithm updating method and device and storage medium

    FU YONG / FANG FANG / GAO WENJIAN et al. | European Patent Office | 2023

    Free access