Equipment for controlling autonomous or partially autonomous land vehicles

A technology for autonomous driving and land vehicles, applied in control devices, vehicle components, systems based on fuzzy logic, etc., can solve problems such as controller performance degradation, rarely satisfied, actuator parameter uncertainty, etc.

Active Publication Date: 2017-11-07
MASSIVE ANALYTIC
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This assumption is rarely satisfied in practice because actuator parameters may also have uncertainties due to input failures such as mechanical and electrical
Adaptive control in the presence of actuator uncertainty is not considered, even if this uncertainty leads to significant degradation of controller performance

Method used

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  • Equipment for controlling autonomous or partially autonomous land vehicles
  • Equipment for controlling autonomous or partially autonomous land vehicles
  • Equipment for controlling autonomous or partially autonomous land vehicles

Examples

Experimental program
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Embodiment Construction

[0036] Referring to the accompanying drawings, non-linear vehicle autonomous driving dynamics may be highly non-linear and "fuzzy" in nature. APACC uses a fuzzy logic circuit ( figure 2 The "cognitive" output of the fuzzifier in ) is fed to the instantaneous linearization of the nonlinear model. It is similar to GPC in most respects, except that the instantaneous linearization of the output of the fuzzy logic circuit results in an adaptive linear regression model.

[0037] A key benefit of fuzzy logic is that it lets designers describe desired system behavior in simple "if-then" relationships. In many applications, this results in simpler solutions in less design time. In addition, designers can use all available engineering know-how to directly optimize system performance. While this is certainly an advantage of fuzzy logic, it has always been a major limitation. In many applications, knowledge describing the desired system behavior is contained in datasets. Here, desi...

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PUM

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Abstract

A device for controlling an autonomous or partially autonomous land vehicle, the device comprising: a coarse adjustment assembly (1, 2, 3) and a fine adjustment assembly (4), the coarse adjustment assembly (1, 2, 3) comprising : a. sensor interface (1); b. fuzzy description to model guidance, navigation and control of the vehicle; and c. An adaptive fuzzy logic controller (3) for the subsystem; and a fine-tuning component comprising: a. an input from the coarse-tuning component (1, 2, 3); b. a look-ahead time domain that determines how much the objective function considers to minimize future samples and the length of the calculated control sequence; c. a linearized MIMO regression model extracted at each time step from the adaptive fuzzy logic controller (3), providing "fine" tuning parameters; and d. nonlinearity Dynamic linearized regression controller (4a).

Description

technical field [0001] The present invention relates to a control device, and more particularly to a device for controlling an autonomous or partially autonomous land vehicle. Background technique [0002] The implementation of autonomous or partially autonomous vehicles is complex and depends on the level of human driver involvement. Requirements include support for lane-keeping and warning systems, adaptive cruise control, backup alerts, and parking aids. Advanced Driver Assistance Systems (ADAS), Light Detection and Ranging (LIDAR), and Dedicated Short Range Communications (DSRC) in real-time vehicle-to-vehicle communication are just some of the known technologies under development. These technologies are designed to enable cars to calculate the 3D geometry of any situation from images in real time and react to their surroundings. ADAS, for example, uses a combination of advanced sensors such as stereo cameras and long and short range RADARs combined with actuators, con...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/12B60W30/16B60W50/00B60W30/18G05D1/02
CPCB60W30/12B60W30/16B60W30/18163B60W2050/0004B60W2050/0006B60W2050/0029B60W2050/0031G06N7/023B60W2556/45B60W60/001
Inventor G·J·弗兰果
Owner MASSIVE ANALYTIC
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