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A regional path tracking control method for autonomous vehicles

An autonomous driving and path tracking technology, applied in two-dimensional position/lane control, etc., can solve problems such as inability to guarantee vehicle collisions, and failure to consider the shape and size of vehicles and roads

Active Publication Date: 2017-11-14
JILIN UNIV
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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 and the road and thus cannot ensure that the vehicle does not collide with the road boundary or its surrounding obstacles, and provides a A region-based path-following control method for autonomous vehicles

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  • A regional path tracking control method for autonomous vehicles
  • A regional path tracking control method for autonomous vehicles
  • A regional path tracking control method for autonomous vehicles

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Embodiment Construction

[0147] The present invention is described in detail below in conjunction with accompanying drawing:

[0148] The present invention proposes a regional path tracking control method for an autonomous driving vehicle, and its specific implementation steps are as follows:

[0149] Step 1. Establish a two-dimensional vehicle road model:

[0150] 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 determined 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 of the expected r...

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Abstract

The invention discloses an area-type path tracking control method for an autonomous driving vehicle, in order to overcome the problem that the tracking control method does not consider the shape and size of the vehicle and the road and thus cannot ensure that the vehicle does not collide with the road boundary or surrounding obstacles. The steps are as follows : Establish a two-dimensional vehicle road model; establish a mathematical model for the vehicle path tracking problem; calculate the boundary line of the feasible road area within a certain distance in front of the vehicle; establish a vehicle system model; Optimum front wheel angle at all times; control the action of the steering actuator according to the optimal front wheel angle so that the controlled vehicle can drive in the feasible road area within a certain distance in front of the vehicle given by the vehicle perception system. When the method establishes a two-dimensional vehicle road model, the shape and size of the vehicle and the road are considered, the possibility of collision between the vehicle and the road boundary is reduced, and the safety of the self-driving vehicle is improved.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 郭洪艳余如郝宁峰陈虹
Owner JILIN UNIV
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