Path tracing control method, path tracing control device, and intelligent vehicle

Abstract

The invention relates to a path tracing control method, a path tracing control device, and an intelligent vehicle. The path tracing control method comprises steps that a predetermined target path and the state information of the vehicle are acquired; a main previewing point and an auxiliary previewing point are acquired according to a preset main previewing distance, an auxiliary previewing distance, and a predetermined target path; a first lateral error is determined according to the position of the main previewing point, the position of the vehicle, and the course of the vehicle, and a second lateral error is determined according to the position of the auxiliary previewing point, the position of the vehicle, and the course of the vehicle; main previewing output and auxiliary previewing output are calculated; the weighting summation of the main previewing output and the auxiliary previewing output is carried out to acquire a steering wheel steering angle control quantity of a current control period; the steering wheel steering angle control quantity of the current control period is output to a vehicle control actuator. Based on the accurate description of the curvature characteristic of the predetermined target path, the tracing path of the vehicle is in more accordance with the predetermined target path, and therefore the robustness of the path tracing is improved, and the stability of the path tracing control is enhanced.

Description

Technical field [0001] The invention relates to the technical field of path tracking, in particular to a path tracking control method, device and smart car. Background technique [0002] Path tracking means that in the inertial coordinate system, the unmanned vehicle starts from a given initial state, follows and reaches the ideal geometric path, and the initial point of the vehicle can be on this path or not on the path. At present, the main application in engineering practice is PID (Proportion Integration Differentiation) control algorithm to realize path tracking. However, the existing path tracking based on PID control algorithm cannot accurately describe the curvature characteristics of a given tracking path, so that unmanned vehicles cannot track the path before the preview point, which will magnify the abrupt change of the tracking path and may cause the amount of lateral control. The sudden change causes out of control. Summary of the invention [0003] Based on this, i...

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Problems solved by technology

[0003] Based on this, it is necessary to aim at the fact that the existing path tracking based on PID control algorithm cannot accurately describe the curvature characteristics of a given tracking path, so that the unmanned vehicle cannot track the path before the preview point, which will amplify the defect of the mutation problem of the tracking path , provide a path tracking control method, device and smart car

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