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

Unmanned vehicle dynamic obstacle avoidance trajectory planning method based on model predictive control

An unmanned vehicle, model predictive control technology, applied in non-electric variable control, control/adjustment system, two-dimensional position/channel control, etc., to reduce the amount of calculation, improve real-time performance, and reliable control stability.

Inactive Publication Date: 2021-06-01
TIANJIN UNIV
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art, to propose a dynamic obstacle avoidance trajectory planning method for unmanned vehicles based on model predictive control, to solve the problem of unmanned vehicles avoiding obstacles in a dynamic environment, and at the same time Solve the problems of vehicle safety and handling stability

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
  • Unmanned vehicle dynamic obstacle avoidance trajectory planning method based on model predictive control
  • Unmanned vehicle dynamic obstacle avoidance trajectory planning method based on model predictive control
  • Unmanned vehicle dynamic obstacle avoidance trajectory planning method based on model predictive control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0038] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0039] The present invention is a dynamic obstacle avoidance trajectory planning method for an unmanned vehicle based on model predictive control, which deals with the trajectory planning problem of an unmanned vehicle, uses a two-degree-of-freedom vehicle dynamics model, and obtains the state of the vehicle through simplification, derivation and calculation predictive model. Then, based on the model predictive control algorithm, the objective function containing the position information of moving obstacles is constructed and solved, and the moving obstacles can be avoided by controlling the front wheel angle of the vehicle. The method enables the vehicle to have a reliable obstacle avoidance function, and at the same...

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 unmanned vehicle dynamic obstacle avoidance trajectory planning method based on model predictive control. The method comprises the following steps: establishing a two-degree-of-freedom vehicle dynamic model; establishing a vehicle state prediction model; establishing a trajectory planner with an obstacle avoidance function cost function, establishing an obstacle avoidance trajectory planning system architecture based on model prediction control, and planning a trajectory capable of avoiding moving obstacles . According to the invention, the problem of obstacle avoidance of the unmanned vehicle in a dynamic environment can be solved, and the problems of safety and operation stability of the vehicle can also be solved.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, and more specifically, relates to a dynamic obstacle avoidance trajectory planning method for unmanned vehicles based on model predictive control. Background technique [0002] In recent years, the rapid development of the world economy and the accelerated pace of people's life have promoted the vigorous development of the transportation industry. With the continuous upgrading of automobile electrification, intelligence and networking, as well as the rapid development of high-tech such as Internet + and artificial intelligence, under this background, unmanned driving has become the trend of traditional automobile industry transformation and the field of world vehicle engineering. research hotspot. The main purpose of unmanned vehicle research is to partially or completely replace the driver's behavior, save energy, relieve traffic pressure, ensure road traffic safety, and accele...

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
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223
Inventor 王一晶卢鑫左志强
Owner TIANJIN 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