Intelligent automobile curve tracking method based on linear controller

Abstract

The invention discloses an intelligent automobile curve tracking method based on a linear controller. A planned path is scattered to obtain a series of linear segments connected in an end-to-end mode, a barrier is detected, processing is carried out with the linear segments as pre-glanced paths in sequence under the situation that no barrier exists, and the processing comprises the following steps that after initialization, the value of an identifier converted from a current driver focus point is judged, if Flag is 1, the distance between an automobile and the pre-glanced paths is focused, and if the relevant variable of the current focused distance is half of the initialization value, the automobile converts the focus point; if Flag is 0, the orientation of the automobile is focused, the steering angle delta of front wheels of the automobile is calculated, the angle difference of the current navigation angle and the path direction angle of the automobile are judged, and if the steering angle delta and the angle difference of the current navigation angle and the path direction angle of the automobile are smaller than or equal to the preset corresponding threshold values, the focus point is changed. The path tracking method can be applied to tracking of paths with any shape, and the method has good adaptability, high tracking precision and good robustness.

Description

technical field [0001] The invention relates to vehicle electronic control technology, in particular to an intelligent vehicle curve tracking method based on a linear controller. Background technique [0002] In the field of intelligent vehicle control, the path tracking technology is connected with the upper path planning and the automatic steering control of the vehicle bottom layer. The main purpose is to enable the intelligent vehicle to travel along the planned path accurately and safely. Therefore, the path tracking algorithm is very important. The goal of the path-following algorithm is to ensure that the vehicle follows the generated path curve by computing the control inputs. [0003] In order to achieve path tracking, a tracking controller needs to be designed to track the straight line after the discretization of the generated path curve. The controllers used in the field of path tracking can be divided into two categories: geometric controllers and error-based co...

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Problems solved by technology

However, in the actual process, the heading angle is also related to factors such as speed, moment of inertia, center of gravity, front and rear wheel cornering coefficients, etc., which makes it extremely difficult to set the PID controller parameters globally. The PID control parameters should be based on system parameters, especially Some sensitive parameters change to reset, poor robustness

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