Title:
UNMANNED VEHICLE HORIZONTAL AND LONGITUDINAL COOPERATIVE CONTROL METHOD AND APPARATUS TAKING TIME-VARYING DELAY INTO ACCOUNT
Document Type and Number:
WIPO Patent Application WO/2024/087766
Kind Code:
A1
Abstract:
An unmanned vehicle horizontal and longitudinal cooperative control method and apparatus taking a time-varying delay into account. The method comprises: step 1, acquiring an underlying time-varying CAN communication delay estimated value τCAN online; and step 2, performing rolling solving on an optimal control problem according to a series of found pieces of reference point information in a prediction time domain Np and by using a prediction model combined with a horizontal and longitudinal integrated evaluation function J and a horizontal and longitudinal joint constraint s.t., and outputting a control quantity of a vehicle. By means of combining an adaptive delay estimator with an MPC horizontal and longitudinal cooperative control algorithm taking a time-varying delay into account, the problem of vehicle control instability of an unmanned vehicle under extreme working conditions caused by ignoring the underlying delay characteristic is solved, thereby improving the stability of a vehicle while ensuring the horizontal and longitudinal control accuracy.
Inventors:
QIN ZHAOBO (CN)
LIANG WANG (CN)
XIE GUOTAO (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
QIN XIAOHUI (CN)
XU BIAO (CN)
DING RONGJUN (CN)
LIANG WANG (CN)
XIE GUOTAO (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
QIN XIAOHUI (CN)
XU BIAO (CN)
DING RONGJUN (CN)
Application Number:
PCT/CN2023/109408
Publication Date:
May 02, 2024
Filing Date:
July 26, 2023
Export Citation:
Assignee:
WUXI INTELLIGENT CONTROL RES INSTITUTE HNU (CN)
International Classes:
G05B13/04
Foreign References:
| CN115598983A | 2023-01-13 | |||
| CN112693449A | 2021-04-23 | |||
| CN113759707A | 2021-12-07 | |||
| CN114967475A | 2022-08-30 | |||
| US20220324443A1 | 2022-10-13 |
Attorney, Agent or Firm:
BEIJING IPWIN IP AGENCY (PARTNERSHIP) (CN)
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