A multi-point preview method, a multi-point preview device and a target path tracking method thereof

A target path and preview technology, which is applied in the direction of instruments, geometric CAD, calculation, etc., to achieve the effect of suppressing the time lag of the actuator, ensuring the accuracy of path tracking, and improving the robustness

Active Publication Date: 2019-01-15
INTELLIGENT MFG INST OF HFUT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the public vehicle has a simple driving environment and simple operating conditions

Method used

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  • A multi-point preview method, a multi-point preview device and a target path tracking method thereof
  • A multi-point preview method, a multi-point preview device and a target path tracking method thereof
  • A multi-point preview method, a multi-point preview device and a target path tracking method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] Set three measurement points, and the corresponding measurement distances of the three measurement points on the target path should satisfy: x 1 =0,x 3 >x 2 >x 1 ; The distance from the measurement point to the corresponding preview point is the lateral deviation y of the preview point 1 、y 2 、y 3 .

[0057] Decompose any complex actual working condition into three simple ideal working conditions for calculation respectively. The three simple ideal working conditions are: ideal working condition one is the working condition when only the distance deviation between the vehicle and the actual target path is considered; ideal working condition Working condition 2 is the working condition when only the angle deviation between the vehicle and the actual target path is considered; ideal working condition 3 is the working condition when only the actual target path is curved. Specifically include the following steps:

[0058] (1) Ideal working condition one

[0059] Cal...

Embodiment 2

[0070] Set four measurement points, and the corresponding measurement distances of the four measurement points on the target path should satisfy: x 1 =0,x 4 >x 3 >x 2 >x 1 ; The distance from the measurement point to the corresponding preview point is the lateral deviation y of the preview point 1 、y 2 、y 3 、y 4 .

[0071] Decompose any complex actual working condition into three simple ideal working conditions for calculation respectively. The three simple ideal working conditions are: ideal working condition one is the working condition when only the distance deviation between the vehicle and the actual target path is considered; ideal working condition Working condition 2 is the working condition when only the angle deviation between the vehicle and the actual target path is considered; ideal working condition 3 is the working condition when only the actual target path is curved. . Specifically include the following steps:

[0072] (1) Ideal working condition one ...

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Abstract

The invention discloses a multi-point preview method and a multi-point preview device thereof. The multi-point preview method comprises the following steps: at least three measurement points are set,and the respective corresponding measurement distances of the at least three measurement points on the target path should satisfy the following requirements: x1=0, x3 & gt; x2 & gt; x1; the distance from the measurement point to the corresponding preview point is the preview point lateral deviation y1, y2, y3. The current actual working condition is decomposed and calculated, that is, the ideal yaw angular velocity omega so is calculated under the condition of considering only the distance deviation between the vehicle and the actual target path; the ideal yaw angular velocity omega ss is calculated only considering the angle deviation between the vehicle and the actual target path. The ideal yaw angular velocity omega _ sw is calculated only under the actual bending condition of the target path. The ideal steering wheel angle delta s of the vehicle is obtained by multiplying omega so, omega ss, omega sw by a predetermined coefficient. The invention can carry out path tracking for different complex paths, ensures path tracking accuracy, effectively improves robustness, and can effectively suppress the influence of time delay, uncertainty and tire force nonlinearity of the actuatorof the vehicle model.

Description

technical field [0001] The invention belongs to the technical field of lane keeping methods, and in particular relates to a multi-point preview method for improving target path tracking accuracy, a multi-point preview device for improving target path tracking accuracy corresponding to the multi-point preview method, and a multi-point preview device for improving target path tracking accuracy. The target path tracking method of the multi-point preview method. Background technique [0002] In the 1980s, people began to study the driver model in order to realize the simulation experiment of the closed-loop system. To some extent, the driver model can be seen as a path following controller. In recent years, autonomous driving has become a hotspot in vehicle research, and the study of lateral control models is an inevitable and important part of autonomous driving research. [0003] Trajectory prediction and tracking is a basic control problem in lane keeping function, which re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/20
Inventor 谷先广李亚军张代胜鲍娣高剑武李旗张锐陈
Owner INTELLIGENT MFG INST OF HFUT
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