CN111830951B - Self-adaptive following prediction control method, system and device - Google Patents
Self-adaptive following prediction control method, system and device Download PDFInfo
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Abstract
The application discloses a self-adaptive following prediction control method, which comprises the steps of monitoring the states of a self vehicle and a front vehicle in real time, and acquiring state information numerical values of control sub-targets in a p-step prediction time domain; respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value; the variance of the control sub-target in the current control period is compared with the variance of the control sub-target in the previous control period to obtain a weight adjustment factor of the control sub-target; and adjusting the weight coefficient of the control sub-targets in the quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and performing self-vehicle control according to the optimal control vector. The adaptive following prediction control method can improve the adaptability of the multi-target prediction controller to complex working conditions and optimize the control quality. The application also discloses a self-adaptive following prediction control system, a device and a computer readable storage medium, which have the technical effects.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a self-adaptive following prediction control method; also relates to an adaptive follow-up predictive control system, an adaptive follow-up predictive control device and a computer readable storage medium.
Background
In the adaptive follow-up Predictive Control under the traditional MPC (Model Predictive Control) framework, both the state weight matrix and the Control weight matrix are fixed weight matrices calibrated offline, i.e. the weight coefficients of the sub-targets of each Control are fixed. The weight reflects the importance of the target, in the multi-target control, a plurality of control sub-targets of the vertical following performance and a plurality of control sub-targets of the horizontal stability performance conflict with each other, namely, the importance of other control sub-targets is weakened by increasing the weight of one control sub-target. Therefore, for the control method using the fixed weight matrix, the working condition adaptability is limited, and the optimization result may be suboptimal, and even the control quality may be deteriorated.
Therefore, how to provide a self-adaptive following prediction control method to improve the adaptability of a multi-target prediction controller to complex working conditions and optimize the control quality is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The application aims to provide a self-adaptive following prediction control method which can improve the adaptability of a multi-target prediction controller to complex working conditions and optimize the control quality; it is another object of the present application to provide an adaptive follow-up predictive control system, apparatus and computer readable storage medium, all of which have the above technical effects.
In order to solve the above technical problem, the present application provides a method for controlling adaptive following prediction, comprising:
monitoring the states of the own vehicle and the preceding vehicle in real time, and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain;
respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value;
comparing the variance of the control sub-targets in the current control period with the variance of the control sub-targets in the last control period to obtain a weight adjustment factor of the control sub-targets;
and adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the self-vehicle according to the optimal control vector.
Optionally, the adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjustment factor includes:
according to the weight adjustment factor, according to
Adjusting the weight coefficient of each control sub-target in the quadratic cost function;
wherein, said λ min And said λ max Are all adjustment parameters, said lambda k (. Is) said regulatory factor, said w k (. H) is a weight coefficient of the control sub-targets in the current control period, w k+1 (. H) is the weight coefficient of the control sub-targets in the next control cycle.
Optionally, the method further includes:
according to
Optimizing the weight coefficient of the control sub-targets in the next control period;
wherein, the
The weight coefficient of the sub-target of the control in the next control period after optimization; xi is 1 And said xi 2 Are all optimized parameters and satisfy xi 1 +ξ 2 ＝1，ξ 1 ＞0，ξ 2 ＞0。
Optionally, before the respectively calculating the variance between the control sub-target in the current control period and the control sub-target in the previous control period, the method further includes:
judging whether the current working condition is a steady-state working condition or not according to the state of the front vehicle;
if the control system is in a steady-state working condition, the step of calculating the variance of the control sub-targets in the current control period and the previous control period and the subsequent weight adjusting coefficient is not executed;
and if the current control period is not the steady-state working condition, executing the step of calculating the variance of the control sub-targets in the current control period and the previous control period and subsequently adjusting the weight coefficient.
Optionally, the determining, according to the state of the preceding vehicle, whether the current operating condition is a steady-state operating condition includes:
judging whether the acceleration of the front vehicle is in an acceleration interval corresponding to the steady-state working condition;
if the acceleration of the front vehicle is in an acceleration interval corresponding to the steady-state working condition, the current working condition is the steady-state working condition;
and if the acceleration of the front vehicle is not in the acceleration interval corresponding to the steady-state working condition, the current working condition is not the steady-state working condition.
In order to solve the above technical problem, the present application further provides a self-adaptive following prediction control system, including:
the state monitoring module is used for monitoring the states of the own vehicle and the preceding vehicle in real time and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain;
the variance calculation module is used for respectively calculating the variances of the control sub-targets in the current control period and the previous control period according to the state information values;
the weight adjusting factor calculation module is used for comparing the variance of the control sub-targets in the current control period with the variance of the control sub-targets in the last control period to obtain the weight adjusting factors of the control sub-targets;
and the weight coefficient adjusting module is used for adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor so as to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the vehicle according to the optimal control vector.
Optionally, the weight coefficient adjusting module is specifically configured to:
according to the weight adjustment factor, according to
Adjusting the weight coefficient of each control sub-target in the quadratic cost function;
wherein, said λ min And said λ max Are all adjustment parameters, said lambda k (. Is said regulatory factor, said w k (. H) is a weight coefficient of the control sub-targets in the current control period, w k+1 (. Cndot.) is the weight coefficient of the control sub-target in the next control cycle.
Optionally, the method further includes:
the working condition judging module is used for judging whether the current working condition is a steady-state working condition or not according to the state of the front vehicle; if the steady-state working condition exists, the variance calculation module, the weight adjustment factor calculation module and the weight coefficient adjustment module do not execute corresponding operation; and if the working condition is not the steady working condition, the variance calculation module, the weight adjustment factor calculation module and the weight coefficient adjustment module execute corresponding operations.
In order to solve the above technical problem, the present application further provides an adaptive following prediction control apparatus, including:
a memory for storing a computer program;
a processor for implementing the steps of the adaptive follow-up predictive control method of any one of the preceding claims when said computer program is executed.
In order to solve the above technical problem, the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the adaptive follow-up prediction control method according to any one of the above items.
The self-adaptive following prediction control method comprises the steps of monitoring the states of a self vehicle and a front vehicle in real time, and acquiring state information values of control sub-targets in a p-step prediction time domain; respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value; comparing the variance of the control sub-targets in the current control period with the variance of the control sub-targets in the last control period to obtain a weight adjustment factor of the control sub-targets; and adjusting the weight coefficient of each control sub-target in a quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the vehicle according to the optimal control vector.
Obviously, compared with the traditional control mode adopting an offline calibrated fixed weight matrix, the self-adaptive following prediction control method provided by the application calculates the variance of the control sub-targets in the current control period and the previous control period according to the acquired state information values of the control sub-targets on the basis of monitoring the states of the self-vehicle and the front-vehicle in real time and acquiring the state information values of the control sub-targets in the p-step prediction time domain, and further compares the variance of the control sub-targets in the current control period with the variance of the control sub-targets in the previous control period to determine the weight adjustment factors of the control sub-targets; and then, the weight coefficient of each control sub-target in the quadratic cost function is adjusted according to the weight adjusting factor, so that the weight coefficient of each control sub-target is automatically adjusted on line according to the real-time monitoring state in the rolling optimization process, the working condition adaptability limitation caused by a fixed weight matrix can be effectively overcome, the adaptability of the multi-target predictive controller to complex working conditions is improved, and the control quality is optimized.
The adaptive following prediction control system, the adaptive following prediction control device and the computer-readable storage medium have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the prior art and the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of an adaptive following prediction control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating another adaptive follow-up prediction control method according to an embodiment of the present disclosure;
FIG. 3 is a vehicle speed response simulation under combined conditions as provided by an embodiment of the present application;
FIG. 4 is a vehicle distance response simulation diagram under a combined condition according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an adaptive follow-up predictive control system according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an adaptive follow-up prediction control apparatus according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a self-adaptive following prediction control method, which can improve the adaptability of a multi-target prediction controller to complex working conditions and optimize the control quality; at the other core of the present application, an adaptive follow-up prediction control system, an apparatus and a computer-readable storage medium are provided, all of which have the above technical effects.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an adaptive tracking prediction control method according to an embodiment of the present disclosure; referring to fig. 1, the method includes:
s101: monitoring the states of the own vehicle and the preceding vehicle in real time, and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain;
s102: respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value;
specifically, in view of the fact that the variance can better reflect the fluctuation degree of the deviation of the control target from the mathematical expectation, i.e., the mean value, the variance can be used to measure the dispersion degree of the control target, and therefore, in this embodiment, on the basis of monitoring the states of the host vehicle and the front vehicle in real time and acquiring the state information values of the control sub-targets in the p-step prediction time domain, the variance of the control sub-target in the current control period and the variance of the corresponding control sub-target in the previous control period are respectively calculated according to the state information values, i.e., specifically, according to the fluctuation degree of the mean value
Calculating the variance of the control sub-target in the current control period according to
Calculating the variance of the control sub-target in the next control period; in the above formula, D k Denotes the current control periodVariance of inner control sub-target, D k-1 (. Cndot.) represents the variance of the control sub-target during the last cycle, and (. Cndot.) represents the type of control sub-target, such as vehicle distance error, relative vehicle speed, desired acceleration, etc. When the variance of the vehicle distance error in the current control period is calculated, the state information value of the vehicle distance error at each moment in the current control period is correspondingly substituted into the (-) part in the formula.
The type of the control sub-targets may include a control sub-target for vertical following performance: vehicle distance error, relative vehicle speed, actual acceleration, jerk, expected acceleration, etc.; and control sub-goals for lateral stability performance: yaw rate error, centroid yaw angle error, desired additional yaw moment, etc.
S103: the variance of the control sub-target in the current control period is compared with the variance of the control sub-target in the previous control period to obtain a weight adjusting factor of the control sub-target;
specifically, this step is intended to determine the weight adjustment factor of the control sub-target, specifically, the variance of the control sub-target in the current control period is compared with the variance of the control sub-target in the previous control period to obtain the weight adjustment factor of the control sub-target, that is, the weight adjustment factor is determined according to
Obtaining a weight adjustment factor for the control sub-target, where λ k (. Cndot.) represents a weight adjustment factor.
S104: and adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the self-vehicle according to the optimal control vector.
Specifically, after the weight factor of the sub-targets is determined in step S103, the weight coefficient of the sub-targets in the quadratic cost function is adjusted according to the weight adjustment factor to obtain the weight coefficient of the sub-targets in the next control period, and specifically, the weight adjustment factor and the weight coefficient of the sub-targets in the current control period may be multiplied to obtain the weight coefficient of the sub-targets in the next control period, so that adaptive following prediction control is performed through the adjusted quadratic cost function in the next control period, dynamic optimization of the quadratic cost function is realized to obtain an optimal control vector, and then vehicle control is performed according to the optimal control vector.
In order to avoid the potential safety hazard caused by the abrupt change of the weight, in a specific embodiment, the adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjustment factor includes: adjusting the factor according to the weight
Adjusting the weight coefficient of the control sub-targets in the quadratic cost function; wherein λ is min And λ max Are all the regulating parameters, λ k (. Is a regulatory factor, w k (. Is a weight coefficient, w, for controlling sub-targets in the current control period k+1 And (t) is the weight coefficient of the control sub-target in the next control period after adjustment.
Specifically, to avoid weight mutation, this embodiment is provided with a lower limit adjustment parameter: lambda [ alpha ] min And an upper limit adjusting parameter: lambda [ alpha ] max When the weight adjustment factor calculated in step S103 is located between the lower limit adjustment parameter and the upper limit adjustment parameter, the weight adjustment factor is multiplied by the weight coefficient of the corresponding control sub-target in the current control period to obtain the weight coefficient of the control sub-target in the next control period; on the contrary, if the weight adjustment factor calculated in step S103 is smaller than the lower limit adjustment parameter or larger than the upper limit adjustment parameter, the weight coefficient of the control sub-target in the next control period is obtained by correspondingly multiplying the lower limit adjustment parameter by the weight coefficient of the control sub-target in the current control period, or the weight coefficient of the control sub-target in the next control period is obtained by multiplying the upper limit adjustment parameter by the weight coefficient of the control sub-target in the current control period.
Wherein the parameter lambda is adjusted for the lower limit min And an upper limit adjustment parameter lambda max The specific numerical values of (A) are not specifically limited in this application, and can be determined according to actual application requirementsA differential setting is to be made.
Further, in order to avoid vehicle shaking caused by multi-target weight change, in a specific embodiment, the method further comprises: according to
Optimizing the weight coefficient of the control sub-target in the next control period after adjustment; wherein, the first and the second end of the pipe are connected with each other,
controlling the weight coefficient of the sub-target in the next optimized control period; xi 1 And xi 2 Are all optimized parameters and satisfy xi 1 +ξ 2 ＝1，ξ 1 ＞0，ξ 2 ＞0。
Specifically, the embodiment adopts a weighted average processing mode to optimize the weight coefficient of the control sub-target in the adjusted next control period, that is, according to
And obtaining the optimal weight coefficient of the control sub-target in the next control period, thereby realizing the smooth transition of weight change.
In summary, the adaptive following prediction control method provided by the present application calculates the variance of the control sub-targets in the current control period and the previous control period according to the obtained state information values of the control sub-targets on the basis of monitoring the states of the own vehicle and the preceding vehicle in real time and obtaining the state information values of the control sub-targets in the p-step prediction time domain, and further determines the weight adjustment factor of the control sub-targets by comparing the variance of the control sub-targets in the current control period with the variance of the control sub-targets in the previous control period; and then, the weight coefficient of each control sub-target in the quadratic cost function is adjusted according to the weight adjusting factor, so that the weight coefficient of each control sub-target is automatically adjusted on line according to the real-time monitoring state in the rolling optimization process, the working condition adaptability limitation caused by a fixed weight matrix can be effectively overcome, the adaptability of the multi-target predictive controller to complex working conditions is improved, and the control quality is optimized.
For example, in the case of poor road surface adhesion and large road curvature radius, the yaw rate error and the centroid side-slip angle error will increase relatively, so that the variances of the yaw rate error and the centroid side-slip angle error will increase relative to the fluctuation at the previous moment, that is, the weight adjustment factors thereof will be greater than 1, and accordingly, the weight coefficients thereof will increase, meaning that the penalties of the yaw rate error and the centroid side-slip angle error will increase relatively, so that the lateral stability performance is preferentially controlled relative to the longitudinal following performance, so that the lateral stability performance is rapidly converged to the desired reference trajectory.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating another adaptive tracking prediction control method according to an embodiment of the present disclosure; referring to fig. 2, the method includes:
s201: monitoring the states of the own vehicle and the preceding vehicle in real time, and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain;
s202: judging whether the current working condition is a steady-state working condition or not according to the state of the front vehicle; if the steady-state condition is present, not executing the steps S203 to S205; if not, executing step S203 to step S205;
s203: respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value;
s204: the variance of the control sub-target in the current control period is compared with the variance of the control sub-target in the previous control period to obtain a weight adjusting factor of the control sub-target;
s205: and adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the self-vehicle according to the optimal control vector.
Specifically, for the specific description of step S201 and steps S203 to S205, reference may be made to relevant portions of the above embodiments, which is not described herein again, and step S202 is specifically developed as follows: in order to ensure a better control effect and reduce the calculation load of the multi-target predictive controller, the embodiment judges the control strategy according to the current working condition, namely, on the basis of monitoring the states of the own vehicle and the preceding vehicle, firstly judges whether the current working condition is a steady-state working condition according to the state of the preceding vehicle, if so, does not perform online adjustment on the weight coefficients of the control sub-targets, namely, does not perform the subsequent steps of S203 and the like; if the condition is not a steady-state condition, such as a rapid acceleration condition, a rapid deceleration condition, etc., the weight coefficients of the control sub-targets are adjusted on line, that is, the subsequent steps such as step S203 are sequentially executed.
The adaptive following prediction control method provided by the embodiment automatically adjusts the weight coefficients of the sub-targets according to the real-time monitoring state in the rolling optimization process on line, can effectively overcome the working condition adaptability limitation caused by a fixed weight matrix, improves the working condition adaptability of the multi-target prediction controller, and optimizes the control quality.
The technical effects of the adaptive following prediction control method provided by the embodiment are verified through simulation as follows: defining the combined running condition of the front vehicle as follows: the constant speed working condition is greater than the rapid acceleration working condition, the constant speed working condition is greater than the rapid deceleration working condition, and the constant speed working condition is greater than the constant speed working condition. Under the combined working condition, aiming at different control strategies, a control strategy (abbreviated as MPC-RW control) with weight coefficients updated online in real time, namely the weight coefficients of online adjustment control sub targets, and a control strategy (abbreviated as MPC-CW control) with weight coefficients calibrated offline, namely the weight coefficients of non-online adjustment control sub targets are included, the vehicle speed response condition is shown in FIG. 3, and the vehicle distance response condition is shown in FIG. 4. In connection with fig. 3, the speed profile using MPC-CW control has some hysteresis compared to MPC-RW control, resulting in poor boundary constraint capability for the vehicle distance error. With reference to fig. 4, in 10-20s, when the leading vehicle accelerates suddenly, the MPC-RW control is adopted to better constrain the forward boundary of the vehicle distance error, i.e. the acceleration effect is better; and in 60-70s, when the front vehicle decelerates suddenly, the MPC-RW control is adopted to better restrain the negative boundary of the vehicle distance error, namely, the braking effect is better. Under the steady-state working condition of 40-60s, the control effect of the MPC-RW control and the MPC-CW control is not obviously different, and the time overhead of the MPC-RW control is 1.4-2 ms and occupies 1.4-2% of the control period as can be known from simulation statistics of the time overhead of the prediction time domain length p =5 and the unit control period of 100 ms. The time overhead of MPC-CW control is significantly lower than that of MPC-RW. Therefore, by adopting the self-adaptive following prediction control method provided by the embodiment and adopting different control strategies for different working conditions, the working condition adaptive capacity of the multi-target prediction controller can be effectively improved, the calculation overhead can be balanced better, and the real-time performance of the system can be guaranteed.
Further, in order to avoid the vehicle shaking caused by frequent switching of the control strategy, in a specific embodiment, the determining whether the current working condition is the steady-state working condition according to the previous vehicle state includes: judging whether the acceleration of the front vehicle is in an acceleration interval corresponding to a steady-state working condition; if the acceleration of the front vehicle is in an acceleration interval corresponding to the steady-state working condition, the current working condition is the steady-state working condition; and if the acceleration of the front vehicle is not in the acceleration interval corresponding to the steady-state working condition, judging the current working condition is the unsteady-state working condition.
Specifically, in this embodiment, a certain transition zone is set for the steady-state operating condition determination, that is, it is determined whether the current operating condition is the steady-state operating condition by determining whether the acceleration of the preceding vehicle is within an acceleration interval corresponding to the steady-state operating condition, rather than determining whether the acceleration of the preceding vehicle is a specific acceleration value. For example, the acceleration interval corresponding to the steady-state working condition is [ -0.6,0.6], the acceleration interval corresponding to the transient shallow braking working condition is [ -2, -0.6], if the acceleration of the preceding vehicle falls within the interval [ -0.6,0.6], the current working condition is the steady-state working condition, and if the acceleration of the preceding vehicle falls within the interval [ -2, -0.6], the current working condition is the transient shallow braking working condition.
The present application further provides an adaptive follow-up predictive control system, and the system described below may be referred to in correspondence with the method described above. Referring to fig. 5, fig. 5 is a schematic diagram of an adaptive tracking prediction control system according to an embodiment of the present disclosure; referring to fig. 5, the system includes:
the state monitoring module 10 is used for monitoring the states of the own vehicle and the preceding vehicle in real time and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain;
a variance calculating module 20, configured to calculate variances of the control sub-targets in the current control period and the previous control period according to the state information values;
the weight adjusting factor calculating module 30 is used for comparing the variance of the control sub-target in the current control period with the variance of the control sub-target in the previous control period to obtain the weight adjusting factor of the control sub-target;
and the weight coefficient adjusting module 40 is used for adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor so as to realize dynamic optimization of the quadratic cost function, obtain an optimal control vector and perform self-vehicle control according to the optimal control vector.
On the basis of the foregoing embodiment, optionally, the weight coefficient adjusting module 40 is specifically configured to:
adjusting the factor according to the weight
Adjusting the weight coefficient of each control sub-target in the quadratic cost function;
wherein λ is min And λ max Are all adjustment parameters, λ k (. Is a regulatory factor, w k (. Is a weight coefficient, w, for controlling sub-targets in the current control period k+1 (. Cndot.) is the weight coefficient of the control sub-target in the next control cycle.
On the basis of the above embodiment, optionally, the method further includes:
an optimization module for optimizing the process according to
Optimizing the weight coefficient of the control sub-target in the next control period;
wherein, the first and the second end of the pipe are connected with each other,
controlling the weight coefficient of the sub-target in the next control period after optimization; xi shape 1 And xi 2 Are all the parameters of the optimization, and are,and satisfy xi 1 +ξ 2 ＝1，ξ 1 ＞0，ξ 2 ＞0。
On the basis of the above embodiment, optionally, the method further includes:
the working condition judging module is used for judging whether the current working condition is a steady-state working condition or not according to the state of the front vehicle; if the steady-state working condition exists, the variance calculation module, the weight adjustment factor calculation module and the weight coefficient adjustment module do not execute corresponding operation; and if the working condition is not the steady working condition, the variance calculation module, the weight adjustment factor calculation module and the weight coefficient adjustment module execute corresponding operations.
Referring to fig. 6, fig. 6 is a schematic diagram of an adaptive following prediction control apparatus provided in an embodiment of the present application, and with reference to fig. 6, the apparatus includes: a memory 1 and a processor 2; wherein, the memory 1 is used for storing computer programs; the processor 2 is configured to implement the following steps when executing the computer program:
monitoring the states of the own vehicle and the preceding vehicle in real time, and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain; respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value; the variance of the control sub-target in the current control period is compared with the variance of the control sub-target in the previous control period to obtain a weight adjusting factor of the control sub-target; and adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the self-vehicle according to the optimal control vector.
The present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
monitoring the states of the own vehicle and the preceding vehicle in real time, and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain; respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value; the variance of the control sub-target in the current control period is compared with the variance of the control sub-target in the previous control period to obtain a weight adjustment factor of the control sub-target; and adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the self-vehicle according to the optimal control vector.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of the computer-readable storage medium provided in the present application, please refer to the above method embodiments, which are not described herein again.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device, the apparatus and the computer-readable storage medium disclosed by the embodiments correspond to the method disclosed by the embodiments, so that the description is simple, and the relevant points can be referred to the description of the method.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The adaptive follow-up predictive control method, system, apparatus, and computer-readable storage medium provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (8)
1. An adaptive follow-up prediction control method, comprising:
monitoring the states of the own vehicle and the preceding vehicle in real time, and acquiring state information numerical values of all control sub-targets in the p-step prediction time domain;
respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information numerical value;
comparing the variance of the control sub-targets in the current control period with the variance of the control sub-targets in the last control period to obtain a weight adjustment factor of the control sub-targets;
adjusting the weight coefficient of the control sub-targets in a quadratic cost function according to the weight adjusting factor to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector, and controlling the vehicle according to the optimal control vector;
the adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjustment factor includes:
according to the weight adjustment factor, according to
Adjusting the weight coefficient of each control sub-target in the quadratic cost function;
wherein said λ min And said λ max Are all adjustment parameters, said lambda k (. Is said regulatory factor, said w k (. Is) a weight coefficient of the control sub-target in the current control period, w k+1 (. H) is the weight coefficient of the control sub-targets in the next control cycle.
2. The adaptive follow-up prediction control method according to claim 1, further comprising:
according to
Optimizing the weight coefficient of the control sub-targets in the next control period;
wherein, the
The weight coefficient of the sub-target of the control in the next control period after optimization; xi is 1 And the xi 2 Are all optimized parameters and satisfy xi 1 +ξ 2 ＝1，ξ 1 ＞0，ξ 2 ＞0。
3. The adaptive follow-up prediction control method according to claim 1, wherein before separately calculating the variance of the control sub-targets in the current control period and the previous control period, the method further comprises:
judging whether the current working condition is a steady-state working condition or not according to the state of the front vehicle;
if the control signal is in a steady-state working condition, the step of calculating the variance of the control sub-targets in the current control period and the previous control period and the subsequent weight adjusting coefficient is not executed;
and if the current control period is not the steady-state working condition, executing the step of calculating the variance of the control sub-targets in the current control period and the previous control period and subsequently adjusting the weight coefficient.
4. The adaptive follow-up prediction control method according to claim 3, wherein the determining whether the current operating condition is a steady-state operating condition according to the preceding vehicle state includes:
judging whether the acceleration of the front vehicle is in an acceleration interval corresponding to the steady-state working condition;
if the acceleration of the front vehicle is in an acceleration interval corresponding to the steady-state working condition, the current working condition is the steady-state working condition;
and if the acceleration of the front vehicle is not in the acceleration interval corresponding to the steady-state working condition, the current working condition is not the steady-state working condition.
5. An adaptive follow-up predictive control system, comprising:
the state monitoring module is used for monitoring the states of the own vehicle and the preceding vehicle in real time and acquiring the state information numerical value of each control sub-target in the p-step prediction time domain;
the variance calculation module is used for respectively calculating the variance of the control sub-targets in the current control period and the previous control period according to the state information value;
the weight adjusting factor calculation module is used for comparing the variance of the control sub-targets in the current control period with the variance of the control sub-targets in the last control period to obtain the weight adjusting factors of the control sub-targets;
the weight coefficient adjusting module is used for adjusting the weight coefficient of each control sub-target in the quadratic cost function according to the weight adjusting factor so as to realize dynamic optimization of the quadratic cost function to obtain an optimal control vector and perform self-vehicle control according to the optimal control vector;
the weight coefficient adjusting module is specifically configured to:
according to the weight adjustment factor, according to
Adjusting the weight coefficient of each control sub-target in the quadratic cost function;
wherein, said λ min And said λ max Are all adjustment parameters, said lambda k (. Is) said regulatory factor, said w k (. H) is a weight coefficient of the control sub-targets in the current control period, w k+1 (. Cndot.) is the weight coefficient of the control sub-target in the next control cycle.
6. The adaptive follow-up predictive control system of claim 5, further comprising:
the working condition judging module is used for judging whether the current working condition is a steady-state working condition or not according to the state of the front vehicle; if the steady-state working condition exists, the variance calculation module, the weight adjustment factor calculation module and the weight coefficient adjustment module do not execute corresponding operation; and if the working condition is not the steady working condition, the variance calculation module, the weight adjustment factor calculation module and the weight coefficient adjustment module execute corresponding operations.
7. An adaptive follow-up prediction control apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the adaptive follow-up predictive control method of any one of claims 1 to 4 when executing the computer program.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the steps of the adaptive follow prediction control method according to any one of claims 1 to 4.
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