JP7088886B2 - 自律型システム内の組み込みリアルタイム制約付き最適制御問題に対する平滑化及び正則化されたｆｉｓｃｈｅｒ－ｂｕｒｍｅｉｓｔｅｒ解決法 - Google Patents

自律型システム内の組み込みリアルタイム制約付き最適制御問題に対する平滑化及び正則化されたｆｉｓｃｈｅｒ－ｂｕｒｍｅｉｓｔｅｒ解決法 Download PDF

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JP7088886B2
JP7088886B2 JP2019146279A JP2019146279A JP7088886B2 JP 7088886 B2 JP7088886 B2 JP 7088886B2 JP 2019146279 A JP2019146279 A JP 2019146279A JP 2019146279 A JP2019146279 A JP 2019146279A JP 7088886 B2 JP7088886 B2 JP 7088886B2
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エム．リャオ－マクファーソン ドミニク
エックス．ファン マイク
エム．ザセック ケビン
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トヨタ モーター エンジニアリング アンド マニュファクチャリング ノース アメリカ，インコーポレイティド
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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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
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  • 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)
  • Feedback Control In General (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2019146279A 2018-08-08 2019-08-08 自律型システム内の組み込みリアルタイム制約付き最適制御問題に対する平滑化及び正則化されたｆｉｓｃｈｅｒ－ｂｕｒｍｅｉｓｔｅｒ解決法 Active JP7088886B2 (ja)

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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
US16/058,831 2018-08-08

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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
US20200050196A1 (en) 2020-02-13

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