Regional path tracking control method for autonomous land vehicle

A technology for autonomous driving and path tracking, applied in two-dimensional position/channel control and other directions, which can solve the problems of not guaranteeing vehicle collision, not considering the shape and size of vehicles and roads, etc.

Active Publication Date: 2015-10-14
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The problem to be solved by the present invention is to overcome the problem that the existing path tracking control method for self-driving vehicles does not consider the shape and size of the vehicle

Method used

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  • Regional path tracking control method for autonomous land vehicle
  • Regional path tracking control method for autonomous land vehicle
  • Regional path tracking control method for autonomous land vehicle

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Embodiment Construction

[0146] The present invention is described in detail below in conjunction with accompanying drawing:

[0147] The present invention proposes a regional path tracking control method for an autonomous driving vehicle, and its specific implementation steps are as follows:

[0148] Step 1. Establish a two-dimensional vehicle road model:

[0149] The present invention establishes a novel two-dimensional vehicle road model, as shown in the attached figure 2 shown. Neglecting the width of the left and right sides of the vehicle, the vehicle is represented by a rigid rod RF passing through the center of mass o of the vehicle, and the length of the rigid rod RF is equal to the length l of the vehicle body. The expected path is defined by the left boundary line f′ of the expected road area l (x), the right boundary line f of the expected road area r '(x) and the expected road area center line f(x) to represent the expected road area, where the left boundary line f' of the expected r...

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Abstract

The invention discloses a regional path tracking control method for an autonomous land vehicle. A problem that collision of a vehicle with a road boundary or surround obstacle occurs because shapes and sizes of the vehicle and the road are not considered by the existing tracking control method can be solved. The method comprises the following steps: establishing a two-dimensional road model; establishing a mathematical model associated with a vehicle path tracking problem; calculating a roadable region boundary line within a certain distance in front of the vehicle; establishing a vehicle system model; carrying out a design of a regional path tracking control model and selecting a controlled quantity being an optimum front wheel steering angle at current time; according to the optimum front wheel steering angle, controlling a steering execution mechanism to make motion to enable the controlled vehicle to be driven in a roadable region, provided by a vehicle sensing system, within a certain distance in front of the vehicle. When the two-dimensional road model is established, the shapes and sizes of the vehicle and roads are taken into consideration, thereby reducing the possibility of collision of the vechile with the road boundary and thus improving safety of the autonomous land vehicle.

Description

technical field [0001] The invention belongs to a control method in the technical field of autonomous driving, and relates to a path tracking control method of an autonomous driving vehicle. Background technique [0002] The wide application prospect of autonomous driving technology makes it attract more and more people's attention. A typical autonomous driving system includes two functional modules: a perception system and a driving control system. The perception system is used to obtain information about the surrounding environment of the vehicle and the vehicle's own operating status information, and the driving control system controls the driving of the vehicle instead of the driver. For autonomous driving technology, path following control is one of the most critical control problems that the driving control system needs to solve. The path tracking control of existing self-driving vehicles mostly refers to the motion control method of robots. First, a feasible trajecto...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 郭洪艳余如郝宁峰陈虹
Owner JILIN UNIV
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