Autonomous automobile guidance and trajectory-tracking

An automatic guidance, automotive technology, applied in the direction of motor vehicles, vehicle components, road network navigators, etc., can solve problems such as lack of stability and limited performance

Active Publication Date: 2019-09-13
OHIO UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

This controller is quite computationally intensiv

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  • Autonomous automobile guidance and trajectory-tracking
  • Autonomous automobile guidance and trajectory-tracking
  • Autonomous automobile guidance and trajectory-tracking

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Embodiment Construction

[0048] Embodiments of the invention include a control system for an autonomous automobile-like ground vehicle that provides vehicle motion control with three degrees of freedom (3DOF). 3DOF vehicle motion control faces several challenges. For example, vehicle rigid body, tire traction, and various drag force models are highly nonlinear. Another challenge is that tracking error dynamics along time-dependent trajectories are usually time-varying even though vehicle dynamics / kinematics properties can be considered time-invariant. Furthermore, car-like ground vehicles are subject to nonholonomic kinematic constraints, which further require time-varying and non-smooth guidance and control algorithms.

[0049] 3DOF motion control can be classified into path following and trajectory tracking. Path following only requires the vehicle to follow a specified path without time constraints. Therefore, the path-following controller system only needs to deal with vehicle kinematics / kinema...

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Abstract

Systems, methods, and computer program products for autonomous car-like ground vehicle guidance and trajectory tracking control. A multi-loop 3DOF trajectory linearization controller (300) provides guidance to a vehicle having nonlinear rigid-body dynamics (332) with nonlinear tire traction force, nonlinear drag forces and actuator dynamics. The controller (300) may be based on a closed-loop PD-eigenvalue assignment and a singular perturbation (time-scale separation) theory for exponential stability, and controls the longitudinal velocity (Vx,sen) and steering angle (delta) simultaneously to follow a feasible guidance trajectory. A line-of-sight based pure-pursuit guidance controller (502) may generate a 3DOF spatial trajectory that is provided to the 3DOF controller (300) to enable targetpursuit and path-following/trajectory-tracking. The resulting combination may provide a 3DOF motion control system (500) with integrated simultaneous steering and speed control for automobile and car-like mobile robot target pursuit and trajectory-tracking.

Description

[0001] Cross References to Related Applications [0002] This patent application claims the benefit and priority of co-pending U.S. application No. 62 / 420,314, filed November 10, 2016. The entire content of this patent application is incorporated herein by reference. Background technique [0003] The present invention relates generally to automatic guidance and control of automobile-like ground vehicles, and more particularly to systems, methods and computer program products for providing steering and motor control signals to automobile-like ground vehicles. [0004] According to the National Highway Traffic Safety Administration (NHTSA), there were 6 million police-reported highway collisions in 2014, resulting in more than 2 million injuries and 32,675 deaths. Of these traffic accidents, 94% were attributed to driver error. It is believed that self-driving or "driverless" cars will significantly reduce such accidents. At present, almost all automakers have begun to develo...

Claims

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Application Information

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IPC IPC(8): G05D1/00
CPCG01C21/26B62D15/025G05D1/0223G05D2201/0213B60W2050/0008B60W2050/0012B60W60/001B60W40/103B60W40/114G05D1/0219
Inventor 朱建超陈远彦
Owner OHIO UNIV
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