The embodiment of the invention discloses a trajectory tracking control method and device for an automatic driving vehicle and a medium, and the method comprises the steps: obtaining an ideal trajectory and an actual trajectory of the automatic driving vehicle, so as to determine a tracking error of the automatic driving vehicle; determining a definition condition of the tracking error according to a preset decline function, and converting the tracking error based on conversion of the definition condition to obtain an error conversion result; defining a Bellman function according to the error conversion result to obtain a target control function corresponding to the autonomous vehicle; reconstructing the Bellman function by defining a Q function neural network to obtain a reconstructed Bellman function so as to obtain a relationship between a to-be-solved neural network weight and a target control function; and designing a finite time adaptive law based on the estimation error of the to-be-solved neural network weight so as to update the Q function neural network based on the finite time adaptive law, and designing optimal control of the target control function according to the updated Q function neural network.
本说明书实施例公开了一种自动驾驶车辆的轨迹跟踪控制方法、设备及介质,方法包括:获取自动驾驶车辆的理想轨迹与实际轨迹,以确定自动驾驶车辆的跟踪误差;根据预设递减函数确定跟踪误差的界定条件,并基于界定条件的转化对跟踪误差进行转换,获得误差转换结果;根据误差转换结果定义贝尔曼函数,以获得与自动驾驶车辆相对应的目标控制函数;通过定义Q函数神经网络对贝尔曼函数进行重构,获得重构贝尔曼函数,以获得待求解神经网络权值与目标控制函数的关系;基于待求解神经网络权值的估计误差,设计有限时间自适应律,以基于有限时间自适应律更新Q函数神经网络,并根据更新后的Q函数神经网络设计目标控制函数的最优控制。
Trajectory tracking control method and device for autonomous vehicle and medium
一种自动驾驶车辆的轨迹跟踪控制方法、设备及介质
2023-10-20
Patent
Electronic Resource
Chinese
IPC: | 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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