CN110816528B - 用于自主系统中嵌入式实时受约束最优控制问题的求解器 - Google Patents

用于自主系统中嵌入式实时受约束最优控制问题的求解器 Download PDF

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CN110816528B
CN110816528B CN201910727714.5A CN201910727714A CN110816528B CN 110816528 B CN110816528 B CN 110816528B CN 201910727714 A CN201910727714 A CN 201910727714A CN 110816528 B CN110816528 B CN 110816528B
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vehicle
constraints
controller
sensor
distance
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CN110816528A (zh
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D·M·廖-迈弗森
M·X·黄
K·M·扎塞克
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Toyota Motor Engineering and Manufacturing North America Inc
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Mathematical Optimization (AREA)
  • Data Mining & Analysis (AREA)
  • Theoretical Computer Science (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Engineering & Computer Science (AREA)
  • Algebra (AREA)
  • Databases & Information Systems (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computing Systems (AREA)
  • Business, Economics & Management (AREA)
  • Game Theory and Decision Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Operations Research (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Feedback Control In General (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201910727714.5A 2018-08-08 2019-08-08 用于自主系统中嵌入式实时受约束最优控制问题的求解器 Expired - Fee Related CN110816528B (zh)

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US16/058,831 2018-08-08
US16/058,831 US10739768B2 (en) 2018-08-08 2018-08-08 Smoothed and regularized Fischer-Burmeister solver for embedded real-time constrained optimal control problems in autonomous systems

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US11227409B1 (en) 2018-08-20 2022-01-18 Waymo Llc Camera assessment techniques for autonomous vehicles
US11699207B2 (en) * 2018-08-20 2023-07-11 Waymo Llc Camera assessment techniques for autonomous vehicles
US20210064031A1 (en) * 2019-08-28 2021-03-04 Zenuity Ab Path planning for autonomous and semi-autonomous vehicles
US11378967B2 (en) * 2019-09-25 2022-07-05 Baidu Usa Llc Enumeration based failure prevention QP smoother for autonomous vehicles
US12291233B2 (en) * 2019-09-27 2025-05-06 Honda Motor Co., Ltd. System and method for providing accurate trajectory following for automated vehicles in dynamic environments
US11479265B2 (en) * 2020-03-25 2022-10-25 Baidu Usa Llc Incremental lateral control system using feedbacks for autonomous driving vehicles
JP7449144B2 (ja) * 2020-04-06 2024-03-13 株式会社Subaru 自動操舵制御装置
CN111959500B (zh) * 2020-08-07 2022-11-11 长春工业大学 一种基于轮胎力分配的汽车路径跟踪性能提升方法
CN112364561B (zh) * 2020-10-26 2022-07-26 上海感探号信息科技有限公司 控车动作修正方法、装置、电子设备和存储介质
CN114516342B (zh) * 2020-11-19 2024-05-03 上海汽车集团股份有限公司 一种车辆控制方法、装置及车辆
US12384410B2 (en) 2021-03-05 2025-08-12 The Research Foundation For The State University Of New York Task-motion planning for safe and efficient urban driving
CN113346500B (zh) * 2021-04-26 2023-06-02 西安交通大学 一种支持微电网全自治控制的柔性切换变流器及控制方法
US12175808B2 (en) 2021-04-27 2024-12-24 Garrett Transportation I Inc. Advanced control framework for automotive systems
US12242933B1 (en) * 2021-09-03 2025-03-04 Lytx, Inc. Adaptive model for vehicle processing of images
CN114537421B (zh) * 2022-03-04 2025-09-12 京东鲲鹏(江苏)科技有限公司 调整系统故障的方法、装置、设备和计算机可读介质

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CN110816528A (zh) 2020-02-21

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