Variable-weight multi-point preview trajectory tracking method based on vehicle speed

A trajectory tracking and preview technology, applied in the field of trajectory tracking, can solve problems such as differences in specific gravity, achieve the effect of improving fluctuations and reducing lateral deviation

Inactive Publication Date: 2019-03-26
CHANGAN UNIV
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] However, each preview point of the multi-point preview has different proportions in the preview mechanism due to its different positions in front of the car

Method used

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  • Variable-weight multi-point preview trajectory tracking method based on vehicle speed
  • Variable-weight multi-point preview trajectory tracking method based on vehicle speed
  • Variable-weight multi-point preview trajectory tracking method based on vehicle speed

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Experimental program
Comparison scheme
Effect test

Embodiment

[0036] see figure 1 and figure 2 , the present invention comprises the following steps:

[0037] The first step, according to figure 1 , first build a trajectory tracking preview model, and enable the car to realize the function of trajectory following. Then calculate the lateral deviation corresponding to any preview point, because the trajectory tracking preview strategy is mainly for the car to follow the expected path, that is, to control the lateral deviation, and continuously reduce it to improve the actual driving path tracking performance of the car. Therefore, the preview lateral deviation must be found out.

[0038] In the second step, according to image 3 , the test obtained the lateral deviation of the preview distance of 4m, 8m, and 14m under the condition of a vehicle speed of 20km / h. By comparison, it can be obtained that the preview distance with the smallest lateral deviation at this vehicle speed is 8m. Depend on Figure 4 It can be seen that the tra...

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Abstract

The invention discloses a variable-weight multi-point preview trajectory tracking method based on a vehicle speed. According to the variable-weight multi-point preview trajectory tracking method basedon the vehicle speed, by equally dividing an optimal preview distance and a longest preview distance into three points, single-point preview is expanded to multi-point preview, preview distances of multiple preview points are also weighted on the basis of fixed-weight multi-point preview. According to the variable-weight multi-point preview trajectory tracking method based on the vehicle speed, lateral deviation generated in the vehicle running process is reduced so that a target path can be preferably tracked to guarantee that the vehicle can run under a working condition of changeable pathenvironment; and through variable weight, a real-time path is tracked to reduce fluctuation under multi-working conditions so as to improve the comfort of a passenger, and therefore, the taking of thevehicle is made much safer.

Description

technical field [0001] The invention belongs to the field of trajectory tracking, and in particular relates to a variable-weight multi-point preview trajectory tracking method based on vehicle speed. Background technique [0002] The preview control theory simulates the driver's driving preview behavior, and performs path tracking system characteristics according to the input future information, which makes up for the influence of the time lag factor on the control performance, and can better realize the function of the car following the estimated path. [0003] As an initial preview control method, single-point preview is to set a preview point directly in front of the car, and control the deviation between it and the estimated path, but this method is complicated when the road conditions change. It is easy to cause large errors in the case. [0004] In order to avoid this problem, the theory of multi-point preview is introduced. That is to say, the original one preview p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/00B60W40/105G05D1/02
CPCB60W40/00B60W40/105G05D1/0212
Inventor 李耀华南友飞何杰冯乾隆张洋森
Owner CHANGAN UNIV
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