The invention discloses an intelligent vehicle adaptive cruise control method and device based on event trigger identification, an intelligent vehicle and a program product. According to the method, the next updating moment of a parameter estimation value of an unknown parameter is judged according to a control obstacle function value, and the product of the unknown parameter and a known function is used for describing uncertain factors in a kinetic model of the intelligent vehicle; determining a parameter estimation value of the unknown parameter at the next updating moment according to historical data between the initial moment and the next updating moment and a known latest parameter estimation value of the unknown parameter, wherein the historical data is a record of control input and a system state; and according to the kinetic model, the current latest parameter estimation value of the unknown parameter, the control barrier function and the control Lyapunov function, carrying out quadratic programming to obtain control input so as to regulate and control the self speed. Cruise tasks are executed safely and efficiently.
本发明公开了一种基于事件触发辨识的智能车辆自适应巡航控制方法和装置、智能车辆、程序产品。该方法中,根据控制障碍函数值判断未知参数的参数估计值的下一次更新时刻,未知参数与一已知函数的乘积用于描述智能车辆的动力学模型中的不确定因素;根据初始时刻至下一次更新时刻之间的历史数据以及未知参数的已知最新的参数估计值确定下一次更新时刻未知参数的参数估计值,历史数据是对控制输入以及系统状态的记录;根据动力学模型、未知参数的当前最新的参数估计值、控制障碍函数和控制李雅普诺夫函数进行二次规划,得到控制输入,以调控自身速度。安全高效执行巡航任务。
Intelligent vehicle adaptive cruise control method and device based on event trigger identification
基于事件触发辨识的智能车辆自适应巡航控制方法和装置
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | 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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