Intelligent vehicle path tracking method and system based on clothoid following

An intelligent vehicle and clothoid technology, which is applied in the fields of instrumentation, calculation, electrical and digital data processing, etc., can solve the problem of not being able to complete the path tracking well, and achieve the effect of improving the path tracking accuracy, good robustness and smooth driving.

Active Publication Date: 2015-05-13
武汉市众向科技有限公司
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Problems solved by technology

For example, the pure following algorithm and the Stanley method can track the established path very well, but these methods are coupled wit

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  • Intelligent vehicle path tracking method and system based on clothoid following
  • Intelligent vehicle path tracking method and system based on clothoid following
  • Intelligent vehicle path tracking method and system based on clothoid following

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Embodiment Construction

[0029] The present invention mainly includes two parts: searching for the preview target point of the intelligent vehicle and controlling and tracking based on the clothoid curve. The specific steps are as follows:

[0030] Step 1. Find the GPS point closest to the current location of the smart vehicle in the tracking path.

[0031] The acquisition of the tracking path belongs to the conventional technology in this technical field, and is a path line composed of GPS points of the passing positions of the intelligent vehicles collected in advance, that is, the tracking path is composed of a series of discrete GPS points, and the attributes of each GPS point include longitude, latitude and Azimuth.

[0032] Step 2, track the traversal of GPS points in the route.

[0033] Starting from the GPS point obtained in step 1, traverse the GPS points in the tracking path according to the driving direction of the smart vehicle, calculate the distance between the smart vehicle and the cur...

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Abstract

The invention provides an intelligent vehicle path tracking method and system based on clothoid following. The method comprises the steps of 1, searching a tracking path for GPS points closest to the current position of an intelligent vehicle; 2, traversing the GPS points in the tracking path; 3, generating a clothoid from the current position of the intelligent vehicle to the current traversal point and obtaining relative parameters of the clothoid; 4, obtaining previewing target points according to the relative parameters of the clothoid; 5, generating a clothoid from the current position of the intelligent vehicle to the current previewing target point, and obtaining the angle of a steering wheel of the intelligent vehicle according to the relative parameters of the clothoid. According to the intelligent vehicle path tracking method and system, the intelligent vehicle path tracking precision can be improved, the steering wheel can rotate smoothly, and it is ensured that the intelligent vehicle travels smoothly.

Description

technical field [0001] The invention relates to the technical field of vehicle electronic control, in particular to an intelligent vehicle path tracking method and system based on clothoid curve following. Background technique [0002] The path tracking control algorithm refers to the method of controlling the smart car to drive safely, stably and accurately along the predetermined reference path. Its performance and control accuracy will directly affect the execution ability of the smart car autonomous driving. [0003] Early path tracking methods, such as geometric path planning method, screw method, rolling path method, etc., are only suitable for indoor moving robots. Due to the non-holonomic constraints of the smart car, and the large size of the vehicle, it is constrained by dynamic conditions such as the minimum turning radius and maximum angular velocity. The above path tracking method is not applicable to the smart car. In recent years, many path tracking methods b...

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Application Information

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IPC IPC(8): G06F19/00
Inventor 李必军单云霄杨威陈诚郑玲周剑
Owner 武汉市众向科技有限公司
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