Dual-mode parallel vehicle trajectory tracking driving system and method based on predictive control

Abstract

The invention relates to a dual-mode parallel intelligent driving vehicle trajectory tracking driving system based on the predictive control. The system comprises a human-computer interaction unit, acombined positioning unit, a communication unit, a comprehensive information perception unit, parallel vehicle processing double units and an execution unit, wherein the combined positioning unit gives the position and the attitude information of an automatic driving vehicle in real time, the comprehensive information perception unit gives the traffic information around the automatic driving vehicle in real time, and the execution unit comprises the line-control steering and the line-control driving system of a vehicle, receives the control instruction output by the parallel vehicle processingdouble units, and finally completes the stable and reliable trajectory tracking of the automatic driving vehicle. The invention further discloses a trajectory tracking driving method for the dual-mode parallel intelligent driving vehicle trajectory tracking driving system based on the predictive control. The system adopts a dual-system parallel control structure to improve the adaptability and robustness of the algorithm, after the model is identified, the dual systems work simultaneously, the fault tolerance capacity of a control system is greatly improved, and the safety and reliability ofthe automatic driving vehicle are improved.

Description

technical field

[0001] The invention relates to the technical field of vehicle automatic driving, in particular to a dual-mode parallel vehicle trajectory tracking system and method based on predictive control. Background technique

[0002] With the rapid development of artificial intelligence technology, the intelligence of vehicles has become an irresistible trend, and intelligent vehicles, especially autonomous vehicles, have attracted people's attention. According to the dynamics of the car, the control of an autonomous vehicle can be divided into lateral control and longitudinal control. The lateral control mainly consists of top-level path planning, middle-level path tracking, and bottom-level executive mechanism steer-by-wire. Trajectory tracking, as one of the basic control problems in the lateral control process, requires autonomous vehicles to track a given or planned path under the requirements of safety, speed, and stability.

[0003] The stability, accuracy, an...

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