The invention belongs to the technical field related to intelligent driving functions, and particularly relates to an intelligent driving function algorithm safe self-evolution method based on a data closed loop, which comprises the following steps of: obtaining a current vehicle state based on real-time data obtained by a vehicle sensor by adopting a current grey box model; based on the current vehicle state, a preliminary control instruction is generated through MPC optimization; performing security check and optimization on the preliminary control instruction by using a control barrier function and quadratic programming to ensure that the control instruction Usafe is close to the initial control instruction Uinitial as much as possible on the premise of meeting security constraints; the control instruction Usafe is converted into an actual execution action of the vehicle; the grey box model is the sum of a vehicle state physical model which does not contain system noise and a data driving model which is used for describing nonlinear characteristics and time-varying characteristics of the vehicle, the data driving model in the grey box model obtains parameter updating optimization after a period of time, and accurate prediction of the vehicle state can be achieved in a complex and changeable environment.
本发明属于智能驾驶功能相关技术领域,具体涉及一种基于数据闭环的智能驾驶功能算法安全自进化方法,包括:采用当前的灰箱模型,基于车辆传感器所获取的实时数据,得到当前车辆状态;基于当前车辆状态,通过MPC优化生成初步的控制指令;利用控制障碍函数和二次规划,对初步的控制指令进行安全性校验和优化,确保控制指令Usafe在满足安全性约束的前提下,尽可能接近初始的控制指令Uinitial;将控制指令Usafe转化为车辆的实际执行动作;灰箱模型为不包含系统噪声的车辆状态物理模型和用于描述车辆非线性特性和时变特性的数据驱动模型的加和,灰箱模型中的数据数据驱动模型在一段时间后得到参数更新优化,能在复杂多变的环境下实现车辆状态的精确预测。
Intelligent driving function algorithm safe self-evolution method based on data closed loop
一种基于数据闭环的智能驾驶功能算法安全自进化方法
2025-03-28
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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