Transverse and longitudinal coordination control trajectory following up control method of unmanned vehicle

Abstract

The invention discloses a transverse and longitudinal coordination control trajectory following up control method of an unmanned vehicle. According to the transverse and longitudinal coordination control trajectory following up control method, a control system in the control method comprises an information receiving module, a calculation solving module and a control command sending module. The control method comprises the following steps of step 1, receiving information: receiving information through the information receiving module; step 2, solving calculation: solving calculation through the calculation solving module; and step 3, enabling the control command emitting module to firstly transform front wheel turning angle and wheel driving/braking torque into direct controlling quantity of an executing mechanism. The method has the beneficial effects that the relationship of transverse motion and longitudinal motion of the unmanned vehicle is established by adopting transverse and longitudinal coordination control; and compared with independent control of transverse motion and the longitudinal motion, the transverse and longitudinal coordination control has the advantage that the control error caused by the coupling of transverse and longitudinal motion is eliminated, and the robustness of the control system is increased.

Description

technical field [0001] The present invention relates to the technical field of unmanned vehicle control, in particular to a method for following a trajectory of an unmanned vehicle through horizontal and vertical coordinated control. Background technique [0002] At present, unmanned vehicles can theoretically reduce the rate of traffic accidents, reduce the death rate of traffic accidents, improve energy utilization, alleviate traffic congestion, increase road traffic, reduce personal commuting time, provide convenience to more people, and improve social productivity. It has become a research hotspot of major research institutions and technology companies at home and abroad. Unmanned vehicles can be divided into three levels: perception, decision-making, and control. In the control layer, the vehicle trajectory output by the decision-making layer needs to be converted into a control quantity so that the vehicle can accurately follow the planned trajectory. The general hori...

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Problems solved by technology

The general horizontal or vertical control mostly adopts the PID control method. Although the structure is simple and easy to implement, it has the disadvantages of relying on engineering experience and the need for debugging. It is obviously unreasonable for unmanned vehicles. Due to the lack of specific models, PID control is also difficult to achieve accurate control; the control effect of PID control is heavily dependent on parameters, so it has poor robustness for controlling vehicle speed changes

In addition, most of the existing control strategies in the control layer are lateral and longitudinal independent control, but the lateral and longitudinal motion of the vehicle has a strong coupling, ignoring the coupling of the vehicle's own lateral and longitudinal motion and performing independent control often reduces the control efficiency. Therefore, there are problems such as poor control accuracy in independent control

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