Vehicle trajectory tracking method, device and equipment and storage medium
A vehicle trajectory and vehicle technology, applied in the field of intelligent networked vehicles, can solve the problems of model predictive control algorithm, such as large amount of calculation, difficulty in determining parameters, and low robustness, so as to improve the actual operation effect and meet real-time performance and accuracy required effect
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Embodiment 1
[0036] figure 1 It is a flow chart of the vehicle trajectory tracking method in Embodiment 1 of the present invention, and this embodiment can be applied to the trajectory tracking process of unmanned vehicles.
[0037] Specifically, such as figure 1 Shown, embodiment one step is as follows:
[0038] S110. Acquire driving information of the vehicle, where the driving information includes the current pose and control delay.
[0039] During the trajectory tracking process of an unmanned vehicle, the corresponding commands used to control the vehicle travel have a certain delay from generation to execution by the executive agency, that is, when the control program issues the control command and the executive agency begins to respond to the relevant control command, the vehicle has already moved. For a certain distance, when the vehicle is running at high speed, the impact of the delay problem on the ride comfort and control accuracy of the vehicle is particularly obvious. Ther...
Embodiment 2
[0057] Embodiment 2 of the present invention further supplements part of the content on the basis of Embodiment 1, specifically as follows:
[0058] In this embodiment, the control quantity used for trajectory tracking is determined based on the two-point preview control model, such as image 3 As shown, the expected speed and the first steering wheel angle of the vehicle are determined based on the preset planned route of the vehicle and the virtual pose, including:
[0059] S131. Determine a first preview point and a second preview point based on the virtual pose and the preset planned route.
[0060] In this embodiment, the first preview point is the position where the vehicle moves after the preview time elapses from the virtual pose point, and the second preview point is the maximum curvature control point of the preset planned route. For example, Figure 4 The rolling planning control model shown is based on the virtual pose X' t and the preset planning route S, give t...
Embodiment 3
[0114] Figure 13 A vehicle trajectory tracking device 300 provided in Embodiment 3 of the present invention specifically includes the following modules:
[0115] The driving information acquisition module 310 is used to acquire the driving information of the vehicle, the driving information includes the current pose and control delay.
[0116] The pose compensation module 320 is configured to determine the virtual pose of the vehicle according to the current pose and the control delay.
[0117] More specifically, the pose compensation module 320 includes: a pose change calculation unit, configured to determine the position within the control delay period based on the driving speed and heading angle of the vehicle and the control delay through the first preset model. Amount of change in pose; a virtual pose determining unit, configured to determine the virtual pose based on the current pose and the amount of change in pose.
[0118] The processing module 330 is configured to...
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