Model-based variable-preview-distance and speed-constrained path tracking method

A technology of preview distance and path tracking, which is applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control and other directions, which can solve the problems of poor passenger comfort and high frequency of actuator action.

Active Publication Date: 2019-11-19
JILIN UNIV
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Problems solved by technology

However, limited by the fact that the reference control quantity and the reference result quantity of the model-based controller are the same, the driving effect of the vehicle in the pa

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  • Model-based variable-preview-distance and speed-constrained path tracking method
  • Model-based variable-preview-distance and speed-constrained path tracking method
  • Model-based variable-preview-distance and speed-constrained path tracking method

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Embodiment Construction

[0011] The specific content of the present invention and the specific embodiments thereof are further described below in conjunction with the described implementation of the accompanying drawings:

[0012] The technical scheme of the present invention is: a variable preview distance and a path tracking method with speed constraints based on model control, which includes: state acquisition, preview distance calculation, reference path acquisition, longitudinal vehicle speed constraint acquisition and model-based control to obtain steering angle .

[0013] First, the state acquisition is to obtain the curvature and lateral error of the reference path point at the last moment based on the reference path at the last moment and the current vehicle status information.

[0014] Secondly, the preview distance calculation will implement the variable preview distance strategy according to the lateral error and the curvature of the reference path point at the last moment. The specific im...

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Abstract

The invention provides a model-based variable-preview-distance and speed-constrained path tracking method. In order to make path tracking have more characteristic of manned driving under the use of model control while meeting the tracking precision requirement of unmanned driving, the path tracking method provided by the invention comprises transverse steering control and longitudinal speed constraint. The transverse steering control is solved according to a control reference quantity generated by a changing preview distance, and the changing preview distance is calculated according to a current transverse error and the curvature of a preview point. The longitudinal velocity constraint is the maximum longitudinal velocity determined by the road curvature of the preview point at a specifiedmaximum lateral acceleration. The method can be applied to the tracking of complex paths, makes path tracking have more characteristic of manned driving while meeting the tracking precision, reducesthe action frequency of the actuator, and improves the riding comfort.

Description

technical field [0001] The invention belongs to the technical field of path tracking of automatic driving, in particular to a path tracking method based on model control, which can realize variable preview distance control and speed constraint. Background technique [0002] As the most basic part of the field of autonomous driving, path tracking technology requires high-precision path tracking effect at high speed as much as possible. Existing path tracking algorithms based on model control can achieve high-precision tracking at a certain speed. However, due to the fact that the reference control quantity and the reference result quantity of the model-based controller are the same, the driving effect of the vehicle during the path tracking process is far from that of the real driver. Understeer is produced, resulting in poor ride comfort for passengers. SUMMARY OF THE INVENTION [0003] In order to solve the above problems, the present invention designs a model-based con...

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Application Information

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IPC IPC(8): G05D1/02G05D1/08
CPCG05D1/0223G05D1/0891
Inventor 代昌华陈国迎宗长富
Owner JILIN UNIV
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