Wire-controlled chassis track tracking control system and method based on UWB positioning

Abstract

The invention discloses a wire-controlled chassis track tracking control system and method based on UWB positioning, vehicle real-time positioning data is obtained based on UWB positioning technology,a high-order perturbation filtering method is adopted, and the positioning data and a reference track are subtracted to obtain a control quantity at the current moment, wherein the control quantity comprises transverse position deviation and course angle deviation; two subsystems are decomposed based on an inversion method, namely, a transverse position deviation control subsystem and a course angle deviation control subsystem, the two subsystems form a closed-loop control system, and a wheel rotating angle and a driving moment are calculated according to the control quantity to drive the vehicle to move forwards to finish the tracking of the reference track. According to the invention, good data fusion is carried out between UWB and vehicle track tracking control, and the track trackingcontrol of the invention has good system robustness and safety by using a high-order perturbation filtering method.

Description

technical field [0001] The invention belongs to the field of trajectory tracking, and in particular relates to a UWB positioning-based track tracking control system and method for a wire-controlled chassis. Background technique [0002] About UWB near-field positioning technology: As the perception link in the perception-decision-execution system of unmanned vehicles, many high-tech technologies have been developed, such as SLAM, high-precision maps, GPS-RTK, etc. However, SLAM technology is not yet mature, there are too few high-precision map partners, and the cost of GPS is relatively high. [0003] Ultra Wide-Band (UWB) is a new type of wireless communication technology. According to the specifications of the Federal Communications Commission of the United States, the operating frequency band of UWB is 3.1-10.6GHz, and the ratio of the system-10dB bandwidth to the system center frequency is greater than 20%. Or the system bandwidth is at least 500MHz. The generation of ...

AI Technical Summary

Problems solved by technology

[0009] 1. For vehicle positioning in trajectory tracking technology, it is difficult to achieve a balance between cost and accuracy in existing positioning methods; some positioning methods (such as RTK-GPS) are costly, while purely using GPS, the positioning accuracy is insufficient, Difficult to apply in fixed scenarios;

[0010] 2. For the trajectory tracking algorithm, it is difficult for the existing methods to achieve a balance between the amount of calculation and the tracking accuracy; some trajectory tracking algorithms (such as MPC) rely on strong computing and processing capabilities, while using traditional trajectory tracking methods (such as Single-point preview), tracking accuracy is difficult to guarantee;

[0011] 3. In the trajectory tracking control algorithm, there is no good integration with the vehicle perception system, and most of them are developed using the framework of perception-planning-control, which makes the flexibility of the intelligent vehicle system insufficient.

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