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公开(公告)号：EP2280241A2
公开(公告)日：2011-02-02
申请号：EP10251329.8
申请日：2010-07-24
申请人： Qinetiq Limited
发明人： Berry, Andrew James
CPC分类号： G01C21/005 , G05D1/0204 , G05D1/101 , G08G5/0021 , G08G5/0069 , G08G5/0078 , G08G5/045
摘要： A method of vehicle control, in which a global target trajectory is tracked by successively calculating an optimum local trajectory in 4D output space to approach the global trajectory and observe vehicle performance limits and surrounding obstacle clearance. A receding horizon framework is proposed which successively updates the optimum local trajectory according to the current state of the vehicle. Processing overheads can be kept to a minimum by calculating performance limits offline, and optimisation is simplified by using a cost function approach.
摘要翻译： 一种车辆控制方法，其中通过连续计算4D输出空间中的最佳局部轨迹以接近全局轨迹并观察车辆性能极限和周围障碍物清除来追踪全局目标轨迹。 提出了一种后退视界框架，其根据车辆的当前状态相继更新最佳局部轨迹。 离线计算性能限制可将处理开销保持在最低水平，并通过使用成本函数方法简化优化。
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公开(公告)号：EP2280241A3
公开(公告)日：2017-08-23
申请号：EP10251329.8
申请日：2010-07-24
申请人： QinetiQ Limited
发明人： Berry, Andrew James
CPC分类号： G01C21/005 , G05D1/0204 , G05D1/101 , G08G5/0021 , G08G5/0069 , G08G5/0078 , G08G5/045
摘要： A method of vehicle control, in which a global target trajectory is tracked by successively calculating an optimum local trajectory in 4D output space to approach the global trajectory and observe vehicle performance limits and surrounding obstacle clearance. A receding horizon framework is proposed which successively updates the optimum local trajectory according to the current state of the vehicle. Processing overheads can be kept to a minimum by calculating performance limits offline, and optimisation is simplified by using a cost function approach.
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