Vehicle motion control method, device and related equipment based on trajectory planning
A motion control device and motion control technology, applied in two-dimensional position/channel control, measurement devices, navigation, etc., can solve the problems of vehicle motion control stability and high efficiency that cannot meet the needs, so as to improve comfort and strong The effect of robustness
Active Publication Date: 2020-02-14
NIO CO LTD
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the stability and efficiency of vehicle motion control based on trajectory planning cannot meet the requirements, the present invention proposes a vehicle motion control method, device and related equipment based on trajectory planning , can complete vehicle trajectory planning and motion control simply, stably and efficiently
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0114] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.
[0115] The present invention proposes a trajectory-based vehicle motion control method, which preliminarily plans the trajectory of the vehicle's journey according to the start point and end point of the journey. A small section of the reference trajectory closest to the vehicle is intercepted on the travel trajectory curve, and a more accurate local driving trajectory curve is obtained by using a polynomial fitting method, and the operation of the vehicle is controlled accordingly. Among them, the parameter vector in the polynomial is calculated according to the current driving state of the vehicle and the intercepted local trajectory curve, ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The present invention relates to the field of intelligent driving, in particular to a vehicle motion control method, device and related equipment based on trajectory planning, aiming to solve the problems of high complexity and poor practicability in trajectory calculation during assisted driving of automobiles. The vehicle motion control method of the present invention includes: preliminarily planning the vehicle travel trajectory according to the travel start point and the travel end point, and then at regular intervals during the operation, on the pre-planned vehicle travel trajectory curve , intercept a small section of reference trajectory with a preset length along the travel direction, and use the polynomial fitting method to obtain the current vehicle trajectory curve, and generate vehicle kinematics model parameters based on this, and then control the operation of the vehicle. This method can not only complete the trajectory planning and motion control of the vehicle in a simple, stable and efficient manner, but also has strong robustness, which significantly improves the comfort of the vehicle during the entire movement process.
Description
technical field [0001] The invention relates to the field of intelligent driving, in particular to a trajectory planning-based vehicle motion control method, device and related equipment. Background technique [0002] In the assisted driving of automobiles, it has always been a difficult point in assisted driving to obtain data through various sensors, and then use a computer to plan a path so that the car can drive according to the planned path. [0003] In recent years, various machine learning methods have been used in car assisted driving, such as vision-based machine learning is particularly prominent, this type of method is mainly used in the perception stage, and the final control is due to consideration of various factors such as safety , not implemented in such unpredictable ways. [0004] At present, most of the mass-produced automatic driving and assisted driving products are based on preview points and polynomial fitting methods. These methods are based on geome...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 周煜远
Owner NIO CO LTD