A model-free unmanned vehicle path tracking method based on speed adaptive preview
A path tracking, unmanned vehicle technology, applied in adaptive control, instruments, control/regulation systems, etc., can solve the problems of difficult to achieve precise control, output value deviation, low efficiency, etc., to maintain stable tracking, simplify work, The effect of eliminating hysteresis
Active Publication Date: 2021-08-17
中发国研信息技术研究院(北京)有限公司
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Problems solved by technology
[0005] The lateral control method based on the vehicle dynamics model includes the lateral control method of the linear quadratic regulator (LQR) based on the dynamics model (Hu et al., 2016), which is difficult in the face of complex vehicle models. Accurate modeling leads to deviations in the expected output value itself, and it is difficult to achieve precise control coverage when the speed domain spans a large range, and the complex method brings a lot of parameter adjustment work, and the efficiency is low
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Embodiment 1
[0061] refer to figure 1 As shown, the model-free unmanned vehicle path tracking method based on speed adaptive preview proposed by the present invention can realize real-time stable tracking of the guideable path through the model-free lateral controller, and can use The vehicle trajectory quickly converges to the tracking path. In order to improve the stability of the vehicle's tracking and convergence in the full speed range, a speed coupler is designed to control the steering wheel angle within the permitted range of theory, so as to avoid tire slipping and failure, and make the vehicle steering more stable ,Reasonable. When dealing with unguided paths, the present invention designs a speed-adaptive preview controller, which automatically adjusts the tracking trajectory to ensure the stable operation of the vehicle, and can solve the problem of control hysteresis to a certain extent.
[0062] Specifically include the following steps:
[0063] S1. Build a model-free later...
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The invention discloses a model-free unmanned vehicle path tracking method based on speed adaptive preview, which specifically includes the following steps: S1: build a model-free lateral controller, and output the rotation amount function of the steering wheel of the unmanned vehicle; S2: By setting the parameters under the initial and equilibrium conditions, the gain parameter in the rotation amount function of the steering wheel of the unmanned vehicle is adjusted to obtain the rotation amount function of the steering wheel of the unmanned vehicle after adjustment; The speed coupler function and the speed adaptive preview distance function are introduced into the output function of the steering wheel rotation of the human vehicle, and the improved output function of the steering wheel rotation of the unmanned vehicle is obtained. The present invention is applicable to most unmanned vehicle models, including: two-degree-of-freedom dynamic unmanned vehicle models, three-degree-of-freedom dynamic unmanned vehicle models, and highly complex ultra-high-degree-of-freedom unmanned vehicle models; It can still maintain accurate and stable tracking effects when dealing with complex and changeable tracking paths in the full speed range.
Description
technical field [0001] The invention relates to the technical field of unmanned vehicle control, in particular to a model-free unmanned vehicle path tracking method based on speed adaptive preview. Background technique [0002] Path tracking is a key part for unmanned vehicles to drive correctly along the road according to perception, decision-making, and planning results, and it plays an important role in the stable and safe operation of unmanned vehicles. The goal of path tracking technology is to enable unmanned vehicles to travel along the planned path accurately and stably, which has good development and application prospects. [0003] There are two main classifications of path tracking technology: (1) Model-free path tracking method: proportional integration differentiation (PID) control, using the PID method to control autonomous vehicles (Marino et al., 2011), regardless of the physical characteristics of the vehicle , it is difficult to apply in the face of high-sp...
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IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 刘康张龑郑颖
Owner 中发国研信息技术研究院(北京)有限公司