Intelligent vehicle trajectory planning and tracking combined control method

A technology of intelligent vehicle and joint control, applied in vehicle position/route/height control, target finding control, two-dimensional position/course control, etc., can solve the problem of difficult to maintain driving stability, no way to consider steering stability tires Adhesion, inability to consider vehicle dynamics, etc.

Active Publication Date: 2020-06-09
SOUTH CHINA UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0006] As mentioned above, most trajectory planning methods cannot consider vehicle dynamics, making it difficult for the vehicle to keep driving stable while tracing the path
On the other hand, based on the vehicle model, trajectory planning and trajectory tracking can be handled using model predictive control methods, but no method has yet considered steering stability and tire adhesion

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  • Intelligent vehicle trajectory planning and tracking combined control method
  • Intelligent vehicle trajectory planning and tracking combined control method
  • Intelligent vehicle trajectory planning and tracking combined control method

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Embodiment Construction

[0095] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0096] For the convenience of expression, assume that the current time is T time, and the time information is represented by the state variable ξ and the right subscript of the solution U. The control period of the model predictive control method is Ts, and the prediction time domain (step size) is Np, that is, the number of predictive control steps k∈[1,N p ].

[0097] A joint control method of intelligent vehicle trajectory planning and tracking can be used in extreme cases. This method can be applied to ordinary four-wheel vehicles with front-wheel steering; for example, when it...

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Abstract

The invention provides an intelligent vehicle trajectory planning and tracking combined control method. The method comprises the following steps: parameterizing a road; establishing a transverse and longitudinal vehicle dynamic model; expanding a vehicle model, and forming a prediction model through linearization, discretization and incremental conversion; designing an objective function of a trajectory planning and tracking joint control problem according to a model prediction control method; obtaining a current vehicle state, and updating matrix parameters in the prediction model; establishing road boundary, driving stability and state quantity constraints according to the vehicle state and the predicted output state of the previous moment; and converting the problem into a quadratic programming problem form, solving an optimal control increment combination, and acting the optimal front wheel rotation angle [delta]* and the longitudinal control value D* on the autonomous vehicle. According to the invention, the combined processing of optimal driving line planning and control is realized, the complexity of an automatic driving module is reduced, the overall memory occupation and processing time are reduced, and the control stability of the automatic driving racing car is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle control, and relates to a motion planning and control method for an intelligent vehicle, in particular to a joint control method for trajectory planning and tracking of an intelligent vehicle. Background technique [0002] With the advancement of computer information processing technology and sensor technology, autonomous vehicle technology has developed rapidly, and has been widely used and made great progress in military and commercial applications. As a test of the ability of the automatic driving system, the development direction of the integration of automatic driving and formula racing has further promoted the development of the college student formula competition, and promoted the progress of the intelligent driving industry in the control ability of the car chassis and the robustness of the algorithm. Different from the goals of stability, safety, and comfort of self-driving pa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/12G05B13/04
CPCG05B13/042G05D1/0088G05D1/021G05D1/12
Inventor 李巍华钟思祺
Owner SOUTH CHINA UNIV OF TECH
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