Integrated control method and system for path planning and path tracking of autonomous vehicles

Abstract

The invention relates to an integrated control method and system for path planning and path tracking of an automatic driving vehicle. The method includes: obtaining 5 input control variables and 11 system state variables of the autonomous vehicle at the current moment; constructing a vehicle path planning-tracking integrated state model according to the 5 input control variables and 11 system state variables at the current moment ; Use the elliptical envelope curve to envelope the outlines of the two self-driving vehicles respectively, and determine the vehicle elliptical envelope curves of the two self-driving vehicles; determine the distance between the vehicles according to the vehicle elliptical envelope curve and the vehicle driving state Collision time; establish the objective function of the model predictive controller MPC according to the vehicle path planning-tracking integrated state model; based on the distance collision time, solve the objective function and determine the input control variable of the next moment of the MPC . The invention can realize the autonomous switching between the two goals of vehicle collision avoidance and collision damage reduction.

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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