Trajectory tracking control method and control device for driverless vehicle

Abstract

The invention relates to a trajectory tracking control method and a control device for a driverless vehicle. The control method comprises that error of present driving trajectory and a reference trajectory of a vehicle is calculated by a data preprocessor, a target performance indicator function which is corresponding to the present driving model is obtained simultaneously; an upper layer controller predicts driving states of the vehicle over a period of time through a vehicle dynamics model; transition switch is conducted to function parameters according to switching control algorithm, and a performance indicator function at present sampling time is obtained; optimal controlled quantity of present time is calculated by considering performance requirement constraint conditions at the same time according to predicted driving states and the performance indicator function; a lower layer controller calculates throttle opening, braking pedal pressure and steering wheel turning angle according to the optimal controlled quantity; and the control device comprises the data preprocessor, the upper layer controller and the lower layer controller. Compared with the prior art, the trajectory tracking control method and the control device for the driverless vehicle have the advantages of being good in control effect, high in practicability, capable of improving stability and safety of vehicles and the like.

Description

technical field [0001] The present invention relates to a vehicle control method and device, in particular to a trajectory tracking control method and control device for unmanned vehicles. Background technique [0002] Unmanned vehicles use on-board sensors to perceive the surrounding environment of the vehicle, and control the steering and speed of the vehicle based on the road, vehicle position and obstacle information obtained from the perception, so that the vehicle can drive safely and reliably on the road. As a new concept of modern warfare, a new direction for the development of automobile technology and a comprehensive verification platform for scientific research, unmanned driving technology has always attracted the attention of national defense, the automobile industry, universities and scientific research institutions. Trajectory tracking refers to tracking the reference trajectory predefined or given by the trajectory planner. It is one of the three basic issues ...

AI Technical Summary

Problems solved by technology

Although this idea can simplify the design of the control method and the realization of the control device, it sacrifices the driving performance of the unmanned vehicle because it ignores the coupling characteristics of the longitudinal and lateral dynamics of the vehicle, especially in emergencies such as high speeds and sharp turns. Stability and performance under

In addition, for complex traffic environments, using a fixed control law cannot meet the requirements of road driving

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