Autonomous vehicle path planning and path tracking integrated control method and system

Abstract

The invention relates to an autonomous vehicle path planning and path tracking integrated control method and system. The method comprises the steps of acquiring 5 input control variables and 11 systemstate variables of autonomous vehicles at the current moment; constructing a vehicle path planning and tracking integrated state model according to the 5 input control variables and the 11 system state variables at the current moment; respectively enveloping the contours of the two autonomous vehicles by using elliptical enveloping curves, and determining vehicle elliptical enveloping curves of the two autonomous vehicles; determining the distance collision time between the vehicles according to the vehicle elliptical envelope curves and the vehicle driving states; establishing an objective function of a model prediction controller MPC according to the vehicle path planning and tracking integrated state model; and based on the distance collision time, solving the objective function, and determining the input control variables of the MPC at the next moment. Vehicle collision avoidance can be realized, collision damage can be reduced, and autonomous switching between two targets can berealized.

Description

technical field [0001] The invention relates to the field of automatic driving vehicle control, in particular to an integrated control method and system for automatic driving vehicle path planning and path tracking. Background technique [0002] Existing intelligent vehicle decision-making and control methods are often realized through two separate modules of path planning and path tracking. From the perspective of path planning, most of the technical methods come from the field of robot control, and most of the models used are vehicle envelope models based on kinematics. For intelligent vehicles under the conditions of high speed, large side slip angle, and lateral angular velocity, The realizability of the generated paths is often difficult to guarantee. Recently, for intelligent vehicle systems, a large number of papers and inventions have been discussed in the direction of path planning. For example, in terms of path planning, fuzzy, potential energy field or RRT algor...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to provide an integrated control method and system for path planning and path tracking of an automatic driving vehicle, so as to solve the problem that the existing automatic driving vehicle control method of planning first and tracking later has a slow response speed of the automatic driving vehicle and cannot realize automatic control. Problems with real-time control of driving vehicles

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