Distributed driving unmanned vehicle path tracking control method and system

A path tracking, unmanned vehicle technology, applied in vehicle position/route/altitude control, control/adjustment system, non-electric variable control and other directions, can solve the problem of inability to ensure ideal curvature tracking, path tracking control accuracy reduction, error, etc. problem, to achieve the effect of high closed-loop response bandwidth, enhanced lateral open-loop gain, and easy engineering implementation.

Active Publication Date: 2021-03-16
CHINA NORTH VEHICLE RES INST
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Problems solved by technology

[0005] (2) Curvature is not a physical quantity that can be directly measured, and indirect state calculation will inevitably bring errors; in addition, the bottom layer cannot ensure the ideal tracking of curvature, and the accumulation of layer-by-layer errors will greatly reduce the overall control accuracy of path tracking control

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  • Distributed driving unmanned vehicle path tracking control method and system
  • Distributed driving unmanned vehicle path tracking control method and system
  • Distributed driving unmanned vehicle path tracking control method and system

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Embodiment 2

[0102] On the basis of the above-mentioned embodiment 1, in order to realize the above-mentioned control, a control system including a path-tracking deviation modeling module, a path-tracking control module, a combined feedback control module and a compound steering matching module is designed.

[0103] The path tracking deviation modeling module is used to calculate the lateral position deviation and heading angle deviation according to the expected path tracking point and the current center of mass position of the vehicle, so as to realize lateral position control;

[0104] The path tracking control module performs path tracking control according to the state information fed back by the vehicle, including receiving the state information fed back by the vehicle (including the actual longitudinal speed of the vehicle), and performing path tracking longitudinal speed planning (that is, calculating the expected speed v d ), calculate the path tracking longitudinal control amount ...

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Abstract

The invention provides a distributed driving unmanned vehicle path tracking control method and system. A transverse control scheme that deviation control is directly mapped to composite steering control quantity is adopted, which is simple and visual; the adopted combined feedback control algorithm not only can ensure the stability, the control precision and the closed loop response bandwidth of control response, but also is convenient for engineering realization and parameter adjustment; and meanwhile, the dynamic characteristics of distributed independence and controllability are brought into full play through multi-wheel independent torque distribution, composite braking and the like in the longitudinal direction. The path tracking control comprises calculation of a transverse control quantity, calculation of a longitudinal control quantity, torque distribution of the transverse/longitudinal control quantity mapped into a bottom-layer executing mechanism and composite braking torquedistribution of the transverse/longitudinal control quantity mapped into the bottom-layer executing mechanism, wherein the transverse control quantity refers to a steering angle, and the longitudinalcontrol quantity refers to a driving control quantity or a braking control quantity.

Description

technical field [0001] The invention belongs to the technical field of automatic driving or unmanned vehicle control, and in particular relates to a path tracking control method and system for distributed driving unmanned vehicles. Background technique [0002] Path-following control is one of the basic key technologies for autonomous driving of unmanned vehicles. Especially for distributed electric drive vehicles, how to use its independently controllable dynamic potential to improve the stability and control accuracy of path-following control is a research focus. [0003] Closed-loop control is generally decomposed into two issues, namely, the structure of the closed-loop control loop and the control algorithm. The structure of the closed-loop control system should make use of the observability and controllability of its object dynamics and physical intuition, formulate a reasonable loop structure, and then design the feedback control law based on the system output informa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223Y02T10/72
Inventor 汪洋李胜飞崔星程文赵熙俊
Owner CHINA NORTH VEHICLE RES INST
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