Unmanned vehicle path tracking control device and method based on multipoint tracking

Abstract

The invention relates to an unmanned vehicle path tracking control device and method based on multipoint tracking. The unmanned vehicle path tracking control device is composed of a GPS data acquisition module, a vehicle speed acquisition module, a data preprocessing module, a calculation module and a wire control execution system. The unmanned vehicle path tracking control method comprises the steps that a GPS position and attitude information of a vehicle are collected and acquired in real time, and GPS coordinates of points on a tracking track path are collected; the track information is preprocessed, and a tracking track is smoothed by Gaussian filtering; and a preview window, a preview interval and preview points of a tracking path reference point are determined, the heading angle deviation and the position deviation of the current vehicle coordinate point and the selected interference preview points are calculated, the front wheel rotation angle corresponding to each preview coordinate points is calculated according to the position deviation and the heading angle deviation, the front wheel rotation angle corresponding to each preview coordinate point is determined according to road condition information and vehicle condition information, and each front wheel rotation angle is added and output according to equal weight to achieve the purpose of path tracking.

Description

technical field [0001] The present invention relates to a path tracking control device and control method for an unmanned vehicle, in particular to a path tracking control device and control method for an unmanned vehicle based on multi-point tracking. Background technique [0002] Path tracking is an indispensable link in the execution of planning and decision-making layer instructions in unmanned vehicles. The quality of path tracking capabilities directly affects the driving safety of unmanned vehicles. For the path tracking method, the quality of the tracking reference point selection has a great impact on the path tracking ability, which will affect the path tracking accuracy, and even affect the safety of unmanned vehicles. [0003] Different from the single-point preview method used in traditional path tracking, the dynamically adjusted multi-point preview path tracking method can not only adjust the position of the preview point according to the change of the vehicle...

AI Technical Summary

Problems solved by technology

[0004] Chinese patent CN201810409217.6 discloses a path tracking method for industrial robots based on a pure tracking model. According to the pure tracking method, the average value of the angle deviation and position deviation of all points in the target point set is used, which is essentially a single point prediction. Targeting, without dynamically adjusting the position of the target point set according to the vehicle driving state and road parameters, it is likely that the ideal tracking accuracy will not be achieved

[0006] Chinese patent CN20091

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