A controller of the vehicle transitions a current state of the vehicle to a target state using a control function. The control function is probabilistic to output a parametric probability distribution over a target state defined by a first moment and at least one high moment. The controller submits the current state to at least one subset of control functions consistent with a next driving decision to generate a subset of parametric probability distributions over the target state, combines the subset of parametric probability distributions to generate a joint parametric probability distribution for the target state, and determining a control command based on a first moment and at least one high moment of the joint parametric probability distribution of the target state.
车辆的控制器使用控制函数将车辆的当前状态转换为目标状态。控制函数是概率性的以输出目标状态上的参数概率分布,该目标状态由一阶矩和至少一个高阶矩限定。控制器将当前状态提交至与下一个驾驶决策一致的至少一个控制函数子集,以生成目标状态上的参数概率分布子集,组合参数概率分布子集以生成目标状态的联合参数概率分布,并且基于目标状态的联合参数概率分布的一阶矩和至少一个高阶矩来确定控制命令。
Adaptive control of autonomous or semi-autonomous vehicles
自动驾驶或半自动驾驶车辆的自适应控制
2022-07-12
Patent
Electronic Resource
Chinese
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 |
Adaptive control of autonomous or semi-autonomous vehicles
European Patent Office | 2022
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