Track tracking control method and device for vehicle autonomous parking

A trajectory tracking and autonomous parking technology, applied in control devices, vehicle components, transportation and packaging, etc., can solve the problems of high speed accuracy, stable control requirements, low precision, and failure to meet precision requirements

Active Publication Date: 2018-11-02
SAIC MOTOR
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AI Technical Summary

Problems solved by technology

[0005] There are many researches on the trajectory tracking of unmanned vehicles at home and abroad. For example, the general PID control of vehicle speed following control can meet the control of lower precision, but when the vehicle parks itself at a very low speed, the speed is accurate and stable. The control requirements are high, and the existing trajectory tracking control methods in the process of autonomous parking cannot meet the accuracy requirements of autonomous parking at extremely low speeds

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  • Track tracking control method and device for vehicle autonomous parking
  • Track tracking control method and device for vehicle autonomous parking
  • Track tracking control method and device for vehicle autonomous parking

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Embodiment Construction

[0072] As mentioned above, the existing trajectory tracking control methods in the process of autonomous parking cannot meet the accuracy requirements of autonomous parking at extremely low speeds.

[0073] In order to solve the above problems, in the embodiment of the present invention, the target angle of rotation of the steering gear is calculated by using the preview control algorithm, and according to the target angle of rotation and the current angle of rotation, the closed-loop control algorithm of the angle of rotation in the trajectory tracking calculation model is used to calculate the steering angle. The torque of the steering motor of the controller enables the vehicle to accurately follow the planned global driving path, thereby improving the trajectory tracking accuracy of the vehicle's autonomous parking process.

[0074] In order to make the above objects, features and beneficial effects of the present invention more comprehensible, specific embodiments of the p...

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Abstract

The invention relates to a track tracking control method and device for vehicle autonomous parking. The method comprises the following steps of: acquiring a current location of the vehicle in real time; and planning a current global driving path of the vehicle in real time according to a destination and a current location of the vehicle; according to the current position of the vehicle and the current global driving path, adopting a preview control algorithm in a predetermined trajectory tracking calculation model, calculating a target rotation angle of the steering device; acquiring a currentrotation angle of the steering gear, according to a current corner of the steering gear and the target corner, using a corner closed loop control algorithm in the trajectory tracking calculation model to calculate a torque of the steering motor of the steering gear; and according to the calculated the torque of the steering motor, controlling the vehicle to travel according to the current globaldriving route. With the above scheme, the accuracy of the trajectory tracking of the vehicle autonomous parking process can be improved.

Description

technical field [0001] The invention relates to vehicle track tracking control technology, in particular to a track tracking control method and device for autonomous parking of vehicles. Background technique [0002] Driverless cars have become a research hotspot in domestic and foreign enterprises and universities in recent years. Driverless cars perceive the surrounding environment of the vehicle through radar, camera, ultrasonic sensor, etc., and use the on-board computer to process and fuse the acquired surrounding information to determine the optimal path and speed of the vehicle, so that the vehicle can drive safely and efficiently on the road to the destination. [0003] Unmanned vehicles are mainly divided into five parts: global path search, real-time positioning, perception of the surrounding environment of the vehicle, intelligent decision-making path planning, and vehicle trajectory tracking. Vehicle trajectory tracking control is an important factor to solve t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D15/02B60W30/06
CPCB60W30/06B60W2520/10B62D15/0285B60W2556/50
Inventor 王俊寇改红杨鹏飞姚杰梁伟铭
Owner SAIC MOTOR
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