使用自动驾驶汽车的增强GDM和RLS实时估计轮胎度
Zhenyu Qin1, Jiaqi Wang2, Panxue Liu3
1School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen, 361024, Fujian, China.
Scientific reports
|August 29, 2025
概括
准确估计轮胎侧面刚度 (TLS) 对自动驾驶汽车的安全至关重要. 灵感来自深度学习的新型梯度下降方法 (GDM) 提供了改进的TLS实时跟踪,增强了车辆控制.
科学领域:
- 车辆动力学和控制
- 工程应用中的机器学习
- 汽车安全系统
背景情况:
- 曲线稳定性对于车辆的横向控制至关重要,因为它受到非线性轮胎与道路相互作用的严重影响.
- 轮胎侧向刚度 (TLS) 是影响向稳定的关键参数,因轮胎和道路状况而有所不同.
- 精确的TLS估计对于自动驾驶安全至关重要,特别是在苛刻的场景中.
研究的目的:
- 提出一个新的轮胎侧面度 (TLS) 识别框架.
- 通过深度学习来探索修改后的梯度下降方法 (GDM) 进行TLS估计.
- 开发和评估用于TLS跟踪的改进实时算法.
主要方法:
- 建立了递归最小方程 (RLS) 和GDM之间的理论联系,确定了RLS作为GDM的特定案例.
- 为实时TLS识别开发了改进的RLS变种.
- 在不同的条件下使用模拟来比较各种GDM和RLS算法,包括像Adam这样的自适应方法.
主要成果:
- 在不同的算法和不同的条件下展示了有效的TLS跟踪能力.
- 适应性GDM方法,如Adam,在追踪TLS方面表现优越.
- 通过适应性方法实现相对稳定状态误差 (RSSE) 低于5%,响应时间 (t10) 低于3秒.
结论:
- 拟议的GDM灵感框架有效地实时识别TLS.
- 像Adam这样的自适应算法为自动驾驶汽车的TLS估计提供了更高的性能.
- 结果为在安全关键的自动驾驶系统中选择适当的估计器提供了实用见解.
相关概念视频
01:17Rolling Resistance: Problem Solving
447
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
447
01:21Rolling Resistance
351
When a solid cylinder rolls steadily on a rigid surface, the normal force applied by the surface on the cylinder is perpendicular to the tangent at the contact point. However, since no materials are entirely rigid, the surface's reaction to the cylinder involves a range of normal pressures.
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down...
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down...
351
01:26PD Controller: Design
349
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
349
01:22Relative Motion Analysis using Rotating Axes - Acceleration
393
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame. The absolute velocity of point B is determined by adding the absolute velocity of point A, the relative velocity of point B in the rotating frame, and the effects caused by the angular velocity within the rotating frame.
Time differentiation is...
Time differentiation is...
393
01:12Differential Leveling
308
Differential leveling is a precise method in surveying used to determine the elevation difference between two points. Its primary goal is to establish accurate vertical measurements to create level surfaces or grade lines critical for designing and constructing infrastructures such as roads, bridges, and buildings.The procedure for differential leveling begins with setting up and leveling the instrument at a point where the benchmark can be seen. The level rod is held on the benchmark (BM), and...
308
01:10Relative Motion Analysis - Acceleration
422
A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
422