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Rhombic vehicle automatic driving path tracking control method, system and vehicle

A path tracking and control method technology, applied in the direction of control devices, vehicle components, driver input parameters, etc., can solve the problems of different dynamic performance, inability to achieve diamond-shaped vehicle tracking performance, sideslip, etc., and achieve excellent steering performance, excellent Effects on Path Tracing Performance

Active Publication Date: 2021-08-24
CRRC QINGDAO SIFANG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structure and dynamic response of diamond-shaped vehicles have been extensively studied, but its automatic driving technology has not been paid attention to
[0004] According to the knowledge of the inventor, the current path tracking control technology scheme in the automatic driving control of vehicles is not suitable for diamond-shaped vehicles, and does not take into account the characteristics of its geometric structure and different dynamic performance, and cannot realize the rhomboid vehicle in the full speed range. Tracking performance, it is easy to cause insufficient vehicle motion control accuracy under low-speed working conditions of diamond-shaped vehicles, and under high-speed working conditions, vehicle control is not timely, and risks such as sideslip occur

Method used

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  • Rhombic vehicle automatic driving path tracking control method, system and vehicle
  • Rhombic vehicle automatic driving path tracking control method, system and vehicle
  • Rhombic vehicle automatic driving path tracking control method, system and vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0077] An unmanned driving path tracking control method for diamond-shaped vehicles, such as Figure 4 As shown, the specific steps are as follows:

[0078] Step S001, determining relevant parameters.

[0079] Specifically include: setting control parameters: mode switching threshold v M , preview distance D L , parameter matrix R, parameter matrix Q;

[0080] Determine the geometric parameters of the vehicle: the distance l between the rear axle of the vehicle and the center of mass of the vehicle r , the distance between the center axis of the vehicle and the center of mass of the vehicle l m , the distance between the front axle of the vehicle and the center of mass of the vehicle l f , the distance between the rear wheelbase of the vehicle and the central axis l rm , the distance between the front axle of the vehicle and the center axle of the vehicle l fm ;

[0081] Determine the dynamic parameters of the vehicle: the mass of the vehicle M, the moment of inertia I...

Embodiment 2

[0125] A rhombus vehicle automatic driving path tracking control system, comprising:

[0126] The parameter determination module is configured to determine the geometric parameters and dynamic parameters of the diamond-shaped vehicle, and set the control parameters;

[0127] a speed acquisition module configured to acquire the longitudinal speed of the vehicle;

[0128] The control module according to working conditions is configured to judge the relationship between the vehicle longitudinal speed and the set speed control threshold, if the vehicle longitudinal speed is less than the speed control threshold, use the geometry-based preview control method to perform path tracking control, otherwise use the dynamics-based The preview control method performs path following control.

Embodiment 3

[0130] A diamond-shaped vehicle adopts the method provided in Embodiment 1 or includes the system provided in Embodiment 1 or Embodiment 2.

[0131] Diamond shaped vehicles also include:

[0132] A positioning module is used to obtain the location information of the diamond-shaped vehicle;

[0133] The perception module is used to obtain the motion state information of the diamond-shaped vehicle;

[0134] A planning module for generating desired paths.

[0135] According to the positioning module and the perception module, it is possible to obtain the vehicle's own speed v x , Yaw rate Lateral velocity v y , the vehicle lateral offset e y , vehicle yaw angle error And the status information of the angle α between the line from the center of the vehicle's central axis to the preview point and the x-axis.

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Abstract

The invention provides a rhombic vehicle automatic driving path tracking control method, a system and a vehicle. Geometric parameters and kinetic parameters of the rhombic vehicle are determined, and control parameters are set; the longitudinal speed of the vehicle is obtained, the relation between the longitudinal speed of the vehicle and a set speed control threshold value is judged, if the longitudinal speed of the vehicle is smaller than the speed control threshold value, path tracking control is carried out through a geometry-based preview control method, and otherwise, path tracking control is carried out through a dynamics-based preview control method; according to the special steering geometrical relationship and transverse dynamic characteristics of the rhombic vehicle, different control strategies are utilized under the high-speed working condition and the low-speed working condition, the method is really suitable for the rhombic vehicle, and meanwhile it is guaranteed that the rhombic vehicle can have good motion control performance under all the working conditions.

Description

technical field [0001] The disclosure belongs to the technical field of vehicle automatic driving, and in particular relates to a diamond-shaped vehicle automatic driving path tracking control method, system and vehicle. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] A rhombus vehicle is a vehicle with a new chassis architecture with three axles and four wheels. Its front and rear axles have independent steering functions, and the central axle provides driving force. Diamond-shaped vehicles have excellent side impact and frontal impact safety, and excellent steering performance. At the same time, its rhombic chassis configuration makes its vehicle design more streamlined, which can effectively reduce driving wind resistance and save fuel consumption. The structure and dynamic response of rhombic vehicles have been widely studied, but ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00B60W10/20B62D61/04
CPCB60W60/001B60W10/20B60W2520/10B60W2520/12B60W2530/10B60W2540/18B62D61/04
Inventor 刘东寰杨泽宇王锱雷高宝杰张敏
Owner CRRC QINGDAO SIFANG CO LTD
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