The invention discloses a self-adaptive control system for an unmanned vehicle. The self-adaptive control system comprises a sensing layer, a decision-making layer and an execution layer, the sensing layer comprises an environment sensing module and a sensor data fusion module, the environment sensing module obtains vehicle surrounding environment information in real time, and the sensor data fusion module carries out fusion processing on data from different sensors; the decision-making layer comprises a road identification and obstacle detection module, a traffic signal identification module, a self-adaptive control algorithm module and an abnormal condition processing module; according to the invention, the system adopts an algorithm design with strong robustness, analyzes data by using an anomaly detection algorithm, and sends an alarm to the emergency processing unit to process missing or abnormal data once an abnormal condition is detected, thereby avoiding the failure of the whole speed regulation and control strategy caused by the error of individual data points. And the control optimization unit optimizes the smoothness of speed regulation and control by using a particle swarm optimization algorithm, reduces unnecessary speed fluctuation and provides comfortable riding experience.

    本发明公开了一种无人车自适应控制系统,包括感知层、决策层与执行层;感知层包括环境感知模块与传感器数据融合模块,环境感知模块实时获取车辆周围环境信息,传感器数据融合模块将来自不同传感器的数据进行融合处理;决策层包括道路识别与障碍物检测模块、交通信号识别模块、自适应控制算法模块与异常情况处理模块;本发明中,系统采用鲁棒性强的算法设计,利用异常检测算法对数据进行分析,一旦检测到异常情况,向应急处理单元发送警报,处理缺失或异常数据,避免因为个别数据点的错误导致整个速度调控策略的失败,控制优化单元利用粒子群优化算法优化速度调控的平滑性,减少不必要的速度波动,提供舒适的乘坐体验。


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    Title :

    Self-adaptive control system of unmanned vehicle


    Additional title:

    一种无人车自适应控制系统


    Contributors:
    ZHAO AILIANG (author) / LIU YANMIN (author) / WANG ZHENGWEI (author)

    Publication date :

    2024-09-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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