Unmanned vehicle, transverse control method thereof and electronic equipment

An unmanned vehicle and lateral control technology, applied in the field of unmanned vehicles and their lateral control methods, and electronic equipment, can solve problems such as incomplete consideration of influencing factors

Active Publication Date: 2020-12-08
北京易控智驾科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the preview tracking control has different control logics. The current control method does not fully consider the influencing factors of the preview tracki

Method used

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  • Unmanned vehicle, transverse control method thereof and electronic equipment
  • Unmanned vehicle, transverse control method thereof and electronic equipment
  • Unmanned vehicle, transverse control method thereof and electronic equipment

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Embodiment Construction

[0055] Embodiments of the present disclosure provide an unmanned vehicle, its lateral control method, and electronic equipment, and consider the influence factors of trajectory curvature, position and heading in real time during the automatic driving process of the unmanned vehicle (which may be referred to as a vehicle for short) , by adaptively calculating the preview point, and adjusting the weights of the trajectory curvature, position and heading factors in real time based on the real-time running state of the vehicle, so as to obtain the weighted expected circular curvature in line with the actual scene, and control the actuator based on the above weighted expected circular curvature Execution of lateral motion improves the real-time accuracy of lateral control of unmanned vehicles.

[0056] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction wit...

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Abstract

The invention discloses an unmanned vehicle, a transverse control method thereof and electronic equipment. The method comprises the following steps of acquiring a position sequence of preview points;determining a weighted expected circumferential curvature according to a position deviation expected circumferential curvature, a heading deviation expected circumferential curvature and a trajectorycurvature expected circumferential curvature of a vehicle relative to each of the N preview points; and determining a steering wheel rotation angle and an expected rotation angle speed according to the weighted expected circumferential curvature so as to control the rotation of a steering wheel and realize transverse control. The step of obtaining the position sequence of the preview points comprises the sub-steps that the number N of the preview points is determined according to a real-time vehicle speed of the vehicle and a curvature of a current expected track; determining a position sequence of N reference points according to the real-time vehicle speed, wherein the N reference points are located in the current driving direction of the vehicle; and determining a point closest to each reference point in the N reference points on the current expected track as a transverse control preview point. According to the method, the applicability of the preview points and the real-time controlprecision of transverse control are improved.

Description

technical field [0001] The disclosure belongs to the technical field of unmanned driving, and relates to an unmanned vehicle, a lateral control method thereof, and electronic equipment. Background technique [0002] The key technologies of intelligent driving involve many technical fields such as environmental perception, high-precision positioning, decision-making planning, and executive control. Executive control, as the bottom layer of the intelligent driving vehicle system, is directly related to the ultimate realization of the intelligent driving function. Vehicle motion control is the core part of executive control, generally divided into vehicle longitudinal control and lateral control. [0003] The lateral control of the vehicle is mainly to control the steering angle of the vehicle according to the expected path trajectory, so that the vehicle follows the expected trajectory. The most widely used in lateral control is preview tracking control. At present, the prev...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W10/20
CPCB60W10/20B60W2520/10B60W60/001
Inventor 朱早贝吕金桐张磊
Owner 北京易控智驾科技有限公司
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