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A Method for Determining Vehicle Trajectory Tracking Points Based on Preview

A technology of vehicle trajectory and determination method, which is applied to ground navigation, navigation through speed/acceleration measurement, etc., can solve the problems of complex calculation process and inaccurate calculation results, and achieve the effect of simple principle and fast and accurate calculation process.

Active Publication Date: 2021-11-19
ZHENGZHOU YUTONG BUS CO LTD
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Problems solved by technology

[0003] The purpose of the present invention is to provide a method for determining vehicle trajectory tracking points based on preview, which is used to solve the problems of complicated calculation process and inaccurate calculation results of existing methods for determining tracking points

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  • A Method for Determining Vehicle Trajectory Tracking Points Based on Preview
  • A Method for Determining Vehicle Trajectory Tracking Points Based on Preview

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Embodiment Construction

[0033] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0034] The invention converts the discrete points on the expected path in the earth coordinate system into the vehicle coordinate system according to the kinematic relationship, and at the same time compares the distance between the converted discrete points to the vehicle and the preview distance, and can quickly obtain the track tracking according to the difference point, so as to realize the trajectory tracking of intelligent vehicles.

[0035] There are multiple embodiments about the structure of the coordinate system in the present invention, so the embodiments of the present invention also have multiple forms, a specific embodiment is provided below, the process of comparing differences in this embodiment is to convert it into the vehicle coordinate system The abscissa of the discrete point is compared with the preview distance, and the discrete point i...

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Abstract

The invention relates to the field of vehicle trajectory tracking, in particular to a method for determining vehicle trajectory tracking points based on preview. The present invention utilizes the coordinate system conversion to transform the discrete points of the expected path in the earth coordinate system into the vehicle coordinate system, and compares them with the preview distance, and quickly obtains the trajectory tracking point on the expected path according to the comparison result, and then obtains the distance from the preview. The lateral displacement error of the preview point determined by the distance and the track tracking point is used to calculate the front wheel rotation angle of the vehicle. The method of the invention is simple in principle, fast and accurate in the calculation process, and can realize track tracking of intelligent vehicles.

Description

technical field [0001] The invention relates to the field of vehicle trajectory tracking, in particular to a method for determining vehicle trajectory tracking points based on preview. Background technique [0002] With the rapid development of intelligence and networking, intelligent vehicles have become a research hotspot. Intelligent vehicles mainly include intelligent assisted driving and unmanned driving. In the research of intelligent vehicles, it involves the trajectory following control part, which mainly makes the vehicle drive according to the desired trajectory by controlling the steering system and driving braking system of the vehicle, including longitudinal speed following control and lateral path following control . Whether it is intelligent assisted driving or unmanned driving, vehicle trajectory following control technology is an indispensable and important technical link. At present, the trajectory tracking control method based on the preview mechanism is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/12G01C21/06
CPCG01C21/06G01C21/12
Inventor 王辉苏常军杨学青刘振楠吴光耀
Owner ZHENGZHOU YUTONG BUS CO LTD
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