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Adaptive following predictive control method, system and device

A predictive control and self-adaptive technology, applied in the control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of limited adaptability to working conditions, deterioration of control quality, etc.

Active Publication Date: 2020-10-27
KUNSHAN BRANCH INST OF MICROELECTRONICS OF CHINESE ACADEMY OF SCI
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Problems solved by technology

Therefore, for the control method using a fixed weight matrix, its adaptability to working conditions is limited, and it may lead to suboptimal optimization results and even worsen control quality

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  • Adaptive following predictive control method, system and device
  • Adaptive following predictive control method, system and device
  • Adaptive following predictive control method, system and device

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Embodiment Construction

[0048] The core of this application is to provide an adaptive following predictive control method, which can improve the adaptability of multi-objective predictive controllers to complex working conditions and optimize the control quality; another core of this application is to provide an adaptive following predictive control system , a device, and a computer-readable storage medium all have the above-mentioned technical effects.

[0049] In order to make the purposes, 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 in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art withou...

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Abstract

The invention discloses an adaptive following predictive control method, which comprises the steps of monitoring states of an own vehicle and a preceding vehicle in real time, and obtaining a state information value of each control sub-target in a p-step predictive time domain; calculating variances of the control sub-targets in the current control period and the previous control period respectively according to the state information values; comparing the variance of each control sub-target in the current control period with the variance of the control sub-target in the previous control periodto obtain a weight adjustment factor of the control sub-target; and adjusting the weight coefficient of each control sub-target in a quadratic cost function according to the weight adjustment factorso as to realize dynamic optimization of the quadratic cost function, obtain an optimal control vector and control the own vehicle according to the optimal control vector. The adaptive following predictive control method can improve the adaptability of a multi-target predictive controller to complex working conditions and optimize the control quality. The invention further discloses a self-adaptive following predictive control system and device and a computer readable storage medium, which all have the above technical effects.

Description

technical field [0001] The present application relates to the technical field of vehicle control, in particular to an adaptive follow-up predictive control method; and also relates to an adaptive follow-up predictive control system, device and computer-readable storage medium. Background technique [0002] Under the traditional MPC (Model Predictive Control, Model Predictive Control) framework, in adaptive following predictive control, both the state weight matrix and the control weight matrix are fixed weight matrices calibrated offline, that is, the weight coefficients of each control sub-goal are fixed. The weight reflects the importance of the objective. In multi-objective control, multiple control sub-objectives of longitudinal following performance and multiple control sub-objectives of lateral stability conflict with each other, that is, increasing the weight of a control sub-objective will weaken Other controls the importance of subgoals. Therefore, for the control ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276Y02T10/40
Inventor 章军辉祝婉凡李庆陈大鹏梁艳菊
Owner KUNSHAN BRANCH INST OF MICROELECTRONICS OF CHINESE ACADEMY OF SCI
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