Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Input Saturation Adaptive Hierarchical Control System and Method for Overdrive Driverless Vehicle

A self-driving car and hierarchical control technology, applied in the direction of biological neural network models, can solve problems such as poor control effect and damage to the stability of the closed-loop path control system, and achieve the effect of improving system performance

Active Publication Date: 2020-06-23
XIAMEN UNIV
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, due to the physical limitation of overdriving the driverless vehicle actuator itself, the saturated control input will produce poor control effect and destroy the stability of the entire closed-loop path control system

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Input Saturation Adaptive Hierarchical Control System and Method for Overdrive Driverless Vehicle
  • Input Saturation Adaptive Hierarchical Control System and Method for Overdrive Driverless Vehicle
  • Input Saturation Adaptive Hierarchical Control System and Method for Overdrive Driverless Vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0031] The following embodiments will further illustrate the present invention in conjunction with the accompanying drawings.

[0032] Such as figure 1 As shown, the embodiment of the over-driven unmanned vehicle input saturation adaptive hierarchical control system is provided with a perception module 1, an input saturation approximation module 2, an adaptive terminal neural sliding mode upper-level control module 3 and a lower-level control distribution module 4; The adaptive terminal neural sliding mode upper-level control module 3 includes a parameter adjustment law 31, a neural network estimator 32 and an adaptive terminal sliding mode controller 33; the lower-level control distribution module 4 includes a control distributor 41 based on tire load rate optimization The output terminal of the perception module 1 is connected to the input terminal of the saturated input approximation module 2, and the output terminal of the saturated input approximation module 2 is connecte...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an input saturation adaptive hierarchical control system and method for an overdriven unmanned vehicle. The input saturation adaptive hierarchical control system is provided with a sensing module, an input saturation approximation module, an adaptive terminal neural sliding mode upper-level control module and a lower-level control distribution module. The upper-level control module comprises a parameter adjustment law, a neural network estimator and an adaptive terminal sliding mode controller. The control method comprises the following steps that the surrounding driving environment information and vehicle state information are collected, and a non-linear dynamic model describing the overdriven unmanned vehicle with saturated input and parameter uncertainty characteristics is established; the adaptive terminal neural sliding mode upper-level control module for the overdriven unmanned vehicle is designed to overcome nonlinearity and parameter uncertainty, and thegeneralized force / moment required by the motion of the overdriven unmanned vehicle is dynamically programmed; and a lower-level control distributor for the overdriven unmanned vehicle is designed based on tire load rate optimization, and the optimal tire force of each actuator is dynamically programmed according to the expected generalized force / moment given by the upper-level controller.

Description

technical field [0001] The invention relates to intelligent safety and automatic driving of automobiles, in particular to an adaptive hierarchical control system and method for solving input saturation of an overdriven unmanned vehicle with input saturation limitation. Background technique [0002] Unmanned vehicles can increase the safety of road traffic, improve the utilization rate of road networks, enhance road traffic capacity, reduce vehicle fuel consumption, and achieve environmental protection and energy saving. It is a research hotspot for governments and scientific research institutions around the world. [0003] Motion control is one of the core technologies for autonomous driving of unmanned vehicles. Its task is to make unmanned vehicles drive along the desired path based on a certain control strategy according to the vehicle's own state and position deviation information. Due to the characteristics of highly nonlinear dynamic characteristics and parameter uncer...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/14G06N3/02
Inventor 郭景华王靖瑶王班李文昌王进
Owner XIAMEN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com