Path tracking control device and method of automated driving vehicle and automated driving vehicle

Abstract

The invention discloses a path tracking control method of an automated driving vehicle. Firstly, left-and-right wheel drive voltages are obtained according to the state equation (1) of the left-and-right wheel drive voltages of the automated driving vehicle and the steering angle of the automated driving vehicle, and then the control voltage analog quantity is obtained through the linear relationbetween the left-and-right wheel drive voltages and the control voltage analog quantity and input in a motor controller; finally, the motor controller controls the left-and-right wheel drive voltagesaccording to the control voltage analog quantity, and path tracking control is achieved. According to the path tracking control method, large deviations existing in the driving process can be rapidlyand smoothly corrected, and precise path tracking control is achieved.

Description

technical field [0001] The invention relates to the field of vehicle navigation technology and vehicle automatic control, in particular to a path tracking control device and method for an unmanned car, and an unmanned car. Background technique [0002] Automated Driving Vehicle (ADV for short) is a self-driving, unmanned, battery-powered automated transportation equipment, equipped with electromagnetic or optical non-contact automatic guidance devices and independent addressing systems. Its main feature is that it has programmable functions, safety protection devices, start-stop devices and carrying functions, and can autonomously drive along the preset guiding path according to the given starting point and end point under the monitoring of the host computer. Arrive at the destination safely and complete the handling and unloading tasks. It has become an important equipment for warehousing and logistics automation systems, flexible production lines, and flexible assembly li...

AI Technical Summary

Problems solved by technology

For wired guidance control, the deviation of the trolley in motion can be clearly defined due to the existence of the guidance route, so the control problem can be easily solved. For wireless guidance control, its uncertainty, complexity, and non-stop Features such as linearity make ADV control more difficult

At present, the most commonly used control methods are genetic algorithm control, pattern recognition control, fuzzy and neural network control, etc., but the above control methods have high algorithm complexity, slow response speed, and poor applicability, and cannot meet the precise requirements of tracking control.

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