A control system controls a vehicle using a probabilistic motion planner and an adaptive predictive controller. The probabilistic motion planner generates a sequence of parametric probability distributions with respect to a sequence of target states of the vehicle using parameters defining a first moment and a high moment. The adaptive predictive controller optimizes a cost function within the predictive range to generate a sequence of control commands for one or more actuators of the vehicle. The cost function balances tracking costs for different state variables in a sequence of target states defined by a first moment. The balancing is performed by weighting different state variables using one or more of the higher order moments of the probability distribution.
一种控制系统,该控制系统使用概率运动规划器和自适应预测控制器来控制车辆。该概率运动规划器利用定义一阶矩和高阶矩的参数,生成关于车辆的目标状态序列的参数概率分布序列。该自适应预测控制器优化预测范围内的成本函数,以生成对车辆的一个或多个致动器的控制命令序列。该成本函数对由一阶矩定义的目标状态序列中的不同状态变量的跟踪成本进行平衡。该平衡是通过使用概率分布的高阶矩中的一个或多个高阶矩对不同状态变量进行加权来执行的。
Adaptive control of autonomous or semi-autonomous vehicles
自主或半自主车辆的自适应控制
2022-08-26
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
Adaptive control of autonomous or semi-autonomous vehicles
European Patent Office | 2022
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