Tracking and controlling method for lane changing trajectories in crooked road

Abstract

The invention belongs to the safe auxiliary driving and intelligent control filed and discloses a tracking and controlling method for lane changing trajectories in a crooked road. At first, planning the lane changing trajectories; secondly, using a vehicle pose expected by planned lane changing trajectories as a referential state of a kinematics controller; then using control input of the kinematics controller as a referential state of a dynamics controller; and finally analyzing stability of a dual closed-loop structure control system composed of the kinematics controller and the dynamics controller. The tracking and controlling method for the lane changing trajectories in the crooked road overcomes the shortcoming that trajectory tracking is achieved by only using the vehicle kinematics controller, the dynamics controller is designed and practical research value is improved. Accuracy of the planning of the lane changing trajectories is improved from the perspectives such as an influence, on the lane changing trajectories, of a vehicle longitudinal velocity change and the difference of curvature between an inner side lane and an outer side lane. By means of a controller based on a dual closed-loop structure, overall accordance and bounded convergence of tracking errors can be guaranteed, and convergence speed of the tracking errors and strong robustness of the uncertainty of a time-varying parameter are improved.

Description

technical field [0001] The invention belongs to the field of safety assisted driving and intelligent control, and relates to a tracking control method for an automatic lane-changing trajectory of a vehicle, in particular to a tracking control method for a curved lane-changing trajectory. Background technique [0002] The tracking control method of automatic lane-changing trajectory of vehicles is an intelligent control technology commonly used in automated highway systems at present. and control algorithm selection, it has high lane-changing trajectory planning accuracy and trajectory tracking effect on the straight road section, and achieves the purpose of improving the control accuracy of safe lane-changing. [0003] In the straight road section, although the tracking control theory of the vehicle's automatic lane-changing trajectory has been basically perfected, the tracking control theory of the vehicle's automatic lane-changing trajectory is based on the curvature diffe...

AI Technical Summary

Problems solved by technology

[0003] In the straight road section, although the tracking control theory of the vehicle's automatic lane-changing trajectory has been basically perfected, the tracking control theory of the vehicle's automatic lane-changing trajectory is based on the curvature difference between the inner and outer lanes of the curved road section and the influence of vehicle longitudinal speed changes on the lane-changing trajectory. There are still the following defects: on curved road sections, it is difficult to ensure the accuracy of trajectory planning for safe lane changes. Due to the limitations of the vehicle kinematics model, the control system lacks practical value. It is necessary to study the design method based on the double closed-loop structure control law to ensure tracking The error is globally consistent and bounded, which improves the convergence speed of the tracking error and has strong robustness to the uncertainty of time-varying parameters.

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