A Model-Based Path Tracking Method with Variable Preview Distance and Velocity Constraints
A technology of preview distance and path tracking, 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: 2021-05-07
JILIN UNIV
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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 path tracking process is far from that of the real driver, which is manifested by high actuator action frequency and easy Produces understeer, which brings poor ride comfort to passengers
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[0011] Below in conjunction with the implementation described in the accompanying drawings, further illustrate the specific content of the present invention and specific embodiments thereof:
[0012] The technical solution of the present invention is: a variable preview distance based on model control and a path tracking method with speed constraints, including: state acquisition, preview distance calculation, reference path acquisition, longitudinal speed constraint acquisition and model-based control to obtain steering angle .
[0013] First, state acquisition is to obtain the curvature and lateral error of the reference path point at the previous moment based on the reference path at the previous moment and the current vehicle state information. The lateral error refers to the reference path point closest to the current vehicle position in the reference path at the last moment.
[0014] Secondly, the calculation of the preview distance will realize the variable preview dist...
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The invention proposes a model-based path tracking method with variable preview distance and speed constraints. In order to make it more human-like while using model control to meet the tracking accuracy requirements of unmanned driving, the proposed path tracking method includes lateral steering control and longitudinal speed constraints. The lateral steering control is solved according to the control reference quantity generated by the changing preview distance, and the changing preview distance is calculated by the current lateral error and the curvature of the preview point. The longitudinal velocity constraint is the maximum longitudinal velocity determined by the curvature of the road through the preview point at a specified maximum lateral acceleration. The invention is applicable to the tracking of complicated paths, and while satisfying the tracking accuracy, it has the characteristics of manned driving, reduces the action frequency of actuators, and improves ride comfort.
Description
technical field [0001] The invention belongs to the technical field of path tracking for automatic driving, and in particular relates to a path tracking method based on model control, which can realize variable preview distance control and has speed constraints. Background technique [0002] As the most basic link in the field of autonomous driving, path tracking technology requires high-precision path tracking at high speeds. The existing path tracking algorithm based on model control can achieve high precision tracking at a certain speed. 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 path tracking process is far from that of the real driver, which is manifested by high actuator action frequency and easy Understeer is generated, which brings poor ride comfort to passengers. Contents of the invention [0003] In order to solve the abov...
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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