Estimation control method applied to trajectory control of automatic driving
A trajectory control and control method technology, applied in the field of predictive control of trajectory control, can solve the problems of large tracking error, underutilization of future trajectory information, slow response, etc.
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[0077] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the specific implementation modes of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:
[0078] Such as figure 1 As shown, a predictive control method for trajectory control applied to automatic driving includes the following steps:
[0079] Step 1: The domain controller receives signals input from the virtual brain controller and the vehicle CAN network in real time;
[0080] The signal input by the virtual brain controller includes the coordinate information of the planned trajectory, motion information, and the position error between the current vehicle position and the reference trajectory;
[0081] The coordinate signals of the planned trajectory include: abscissa y, ordinate x and steering angle phi;
[0082] Motion information includes: velocity, acceleration, curvature, and curv...
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