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Trace tracking method of autonomous vehicle

A technology of automatic driving and trajectory tracking, which is applied in the field of trajectory tracking of automatic driving vehicles, and can solve problems such as unsatisfactory trajectory tracking, many dynamic model parameters, and difficulty in ensuring real-time calculation.

Inactive Publication Date: 2019-03-01
TSINGHUA UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

When the adhesion of the vehicle reaches saturation and there is severe sideslip, it cannot meet the requirements of trajectory tracking
The vehicle model involved in the above technology cannot reflect the dynamic characteristics of the vehicle under extreme conditions
However, high-order and more complex dynamic models have many parameters, which are difficult to measure under actual working conditions, and the real-time calculation is difficult to guarantee
Therefore, the current technology cannot meet the trajectory tracking requirements of the vehicle in the whole scene

Method used

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Embodiment Construction

[0051] In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0052] Such as figure 1 and figure 2 As shown, the automatic driving vehicle trajectory tracking system provided in this embodiment is used to control the automatic driving vehicle 1 equipped with an actuator 11 and a multi-source sensor 12, wherein:

[0053] The actuator 11 includes a lower controller 111 , a servo motor controller 112 , a motor controller 113 and a battery 114 , wherein the lower controller 111 may be an Arduino controller, but is not limited thereto. The lower controller 111 communicates with the servo motor controller 112 , and the lower controller 111 outputs the front wheel rotation angle control amount to the servo motor controller 112 for controlling the rotation angle of t...

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Abstract

The invention discloses the trace tracking method of an autonomous vehicle. The method comprises the following steps of S1, determining a reference trace and establishing a vehicle monorail dynamics model, a tracking error performance index calculation model and a trace tracking control model; S2, selecting a closest reference point having a minimum weighted deviation with a real-time vehicle position and a course angle on the reference trace; S3, based on the vehicle monorail dynamics model, using a closed-loop control strategy to predict a vehicle state in a future time domain; S4, based onthe vehicle monorail dynamics model, using an open-loop control strategy to predict the vehicle state in the future time domain; and S5, calculating the tracking error performance indexes corresponding to the vehicle states in the S3 and S4, and selecting the trace tracking control model corresponding to the small tracking error performance index as the control mode output of a vehicle. The tracetracking method is based on combination navigation or SLAM high-precision positioning and is suitable for the trace tracking of multiple traces, multiple vehicle models and all working conditions (limited and non-limited working conditions).

Description

technical field [0001] The invention relates to the technical field of safe driving of intelligent vehicles, in particular to a trajectory tracking method of an automatic driving vehicle. Background technique [0002] With the progress of my country's automobile industry and the increase of car ownership, the resulting traffic accidents are becoming more and more serious. The reason is due to illegal driving and improper operation of human drivers. Autonomous vehicles can significantly reduce traffic accidents and alleviate traffic congestion, and have been extensively studied in recent years. Trajectory tracking method is one of the key technologies of autonomous vehicles, and its function is to track the desired driving trajectory through the vehicle's executive structure (such as steering wheel, brake pedal, etc.). In the process of automatic driving, the accuracy of trajectory tracking will directly affect the driving trajectory of the vehicle, and then affect the over...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0253G05D1/0255G05D1/0257G05D1/0276
Inventor 张放王建强李克强许庆
Owner TSINGHUA UNIV
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