The invention discloses a vehicle control method, a vehicle control device, electronic equipment and a readable storage medium, and the method comprises the steps: obtaining a nonlinear control quantity corresponding to a target vehicle at a current moment, the nonlinear control quantity comprises an actual state quantity, an expected state quantity, an actual control input quantity and an expected control input quantity of the target vehicle; the nonlinear control quantity is input to a target neural network to obtain a control increment, the target neural network is an equivalent representation which is constructed based on a target error model and aims at a norm form of a target function, and the target error model is determined based on a target dynamical model; the control increment is a first item of a target control sequence which minimizes the target function; and at the next moment, performing motion control on the target vehicle according to the control increment.

    本申请公开了一种车辆控制方法、车辆控制装置、电子设备及可读存储介质,方法包括:获取当前时刻下与目标车辆对应的非线性控制量,其中,所述非线性控制量包括所述目标车辆的实际状态量、期望状态量、实际控制输入量和期望控制输入量;将所述非线性控制量输入至目标神经网络,得到控制增量,其中,所述目标神经网络为基于目标误差模型构建的针对一范数形式的目标函数的等价表示,所述目标误差模型是基于目标动力学模型确定的,所述控制增量为使所述目标函数最小化的目标控制序列的首项;在下一时刻,根据所述控制增量,对所述目标车辆进行运动控制。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle control method, vehicle control device, electronic equipment and readable storage medium


    Additional title:

    车辆控制方法、车辆控制装置、电子设备及可读存储介质


    Contributors:
    XU LIHONG (author) / OU JIEYONG (author) / YUAN HONGLIANG (author) / SU YU (author) / TANG RUI (author)

    Publication date :

    2024-10-01


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    Vehicle control method and device, vehicle, electronic equipment and readable storage medium

    WANG QI / CHEN XIAOFENG / LI SONG et al. | European Patent Office | 2023

    Free access

    Vehicle control method and device, vehicle, electronic equipment and readable storage medium

    LIU JIN / JIA SHUANGCHENG / ZHU LEI et al. | European Patent Office | 2023

    Free access

    Vehicle control method and device, vehicle, electronic equipment and readable storage medium

    MORITA MITSUHIKO / SHAO JUNQIAO / WANG YE et al. | European Patent Office | 2024

    Free access

    Vehicle control method, vehicle, electronic equipment and computer readable storage medium

    DENG XUN / WU ZHEN / HE ZHOU et al. | European Patent Office | 2024

    Free access

    Vehicle control method, vehicle, electronic equipment and computer readable storage medium

    JING JUNCHAO / HUANG WEISHAN | European Patent Office | 2024

    Free access