The invention belongs to the technical field of self-driving automobile chassis control, and provides a lane changing scene transverse and longitudinal decoupling control method based on parameter self-adaption and application, and the method comprises the steps: firstly generating a reasonable lane changing track based on a lane changing track generation process of hierarchical planning in combination with a path planning structure; based on a genetic optimization and neural network self-adaptive trajectory tracking process, optimal lane changing control parameters are generated through test data optimization, and finally, a control parameter model is trained in combination with a neural network algorithm, so that the optimal control process aiming at a specific lane changing working condition is realized. According to the invention, high-real-time, high-comfort and high-stability driving tasks are completed through self-adaptive identification of the lane changing scene, and self control behaviors are adjusted by combining real-time identification of working conditions in the lane changing process, so that high-performance control effect output is realized.
本发明属于自动驾驶汽车底盘控制技术领域,提供一种基于参数自适应的变道场景横纵向解耦控制方法及应用,首先基于分层规划的变道轨迹生成过程,结合路径规划结构生成合理的换道轨迹;再基于遗传寻优与神经网络的自适应轨迹跟踪过程,通过测试数据优化生成最佳换道控制参数,最后结合神经网络算法训练控制参数模型,实现针对特定换道工况的最优控制过程。本发明通过自适应识别变道场景完成高实时性、高舒适性、高稳定性驾驶任务,并结合变道过程工况实时识别以调整自身控制行为,从而实现高性能的控制效果输出。
Lane changing scene transverse and longitudinal decoupling control method based on parameter self-adaption and application
一种基于参数自适应的变道场景横纵向解耦控制方法及应用
15.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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