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Driving trajectory control method, device, device and medium applied to unmanned vehicles

A technology of driving trajectory and control method, which is applied in two-dimensional position/channel control, vehicle position/route/altitude control, control/adjustment system, etc. problems such as poor effect, to achieve the effect of improving driving safety

Active Publication Date: 2022-07-19
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in specific applications, there is a problem of lack of predictability of the trajectory when the road curvature changes greatly, resulting in poor tracking effect
[0004] At the same time, the choice of the look-ahead distance in the pure tracking algorithm also directly affects the tracking effect. A shorter or longer look-ahead distance will cause instability in the control of the vehicle, resulting in poor control effect, which will lead to the inability to guarantee the safety of the unmanned vehicle. Technical issues of safety during driving

Method used

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  • Driving trajectory control method, device, device and medium applied to unmanned vehicles
  • Driving trajectory control method, device, device and medium applied to unmanned vehicles
  • Driving trajectory control method, device, device and medium applied to unmanned vehicles

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Experimental program
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Embodiment 1

[0031] figure 1 This is a schematic flowchart of a driving trajectory control method applied to an unmanned vehicle provided by the first embodiment of the present invention. The method can be executed by a driving trajectory control device applied to an unmanned vehicle, and the system can be implemented in the form of software and / or hardware, and the hardware can be an electronic device, such as a mobile terminal or a PC terminal.

[0032] like figure 1 Described, the method of this embodiment includes:

[0033] S110. Determine target speed information of the target vehicle at the current target preview point.

[0034] It should be noted that, before the unmanned vehicle travels, a corresponding driving path can be planned according to the starting position and end position of the unmanned vehicle, and this is used as the planning path. The planned path is composed of multiple discrete points. The unmanned vehicle can travel according to the planned path. The control o...

Embodiment 2

[0073] Figure 4 This is a schematic flowchart of a driving trajectory control method applied to an unmanned vehicle according to the second embodiment of the present invention. On the basis of the foregoing embodiment, when the target vehicle travels to the target preview point, the embodiment of the present invention can be repeatedly executed The technical solution is to determine the front wheel steering angle information of the target vehicle traveling from the current target preview point to the next target preview point, thereby improving the control effect of the target vehicle. Wherein, the technical terms that are the same as or corresponding to the above embodiments will not be described again.

[0074] like Figure 4 As shown, the method includes:

[0075] S210. Determine target speed information of the target vehicle at the current target preview point.

[0076] S220. Determine the target forward-looking distance corresponding to the current target preview poin...

Embodiment 3

[0082] Figure 5 It is a schematic structural diagram of a driving trajectory control device applied to an unmanned vehicle according to the third embodiment of the present invention, the device includes: a target speed determination module 310 , a forward distance determination module 320 and a steering angle determination module 330 .

[0083] Among them, the target speed determination module 310 is used to determine the target speed information of the target vehicle at the current target preview point; the forward-looking distance determination module 320 is used to determine the corresponding target preview point according to the target speed information The steering angle determination module 330 is configured to determine the front wheel turning angle of the target vehicle according to the target front sight distance and the wheelbase information, so as to control the driving of the target vehicle based on the front wheel turning angle; The wheelbase information is the d...

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Abstract

The invention discloses a driving trajectory control method, device, equipment and medium applied to an unmanned vehicle. The method includes: determining target speed information of a target vehicle at a current target preview point; the target forward-looking distance corresponding to the target preview point; according to the target forward-looking distance and wheelbase information, determine the front wheel turning angle of the target vehicle, so as to control the driving of the target vehicle based on the front wheel turning angle; Wherein, the wheelbase information is the distance between the front axle and the rear axle of the target vehicle. The technical solution of the embodiment of the present invention realizes the technical effect of adjusting the vehicle's longitudinal travel speed based on the heading deviation feedforward controller, and determining the target forward sight distance according to the travel speed, thereby improving the tracking accuracy and stability of the tracking control.

Description

technical field [0001] The embodiments of the present invention relate to the field of unmanned driving technology, and in particular, to a driving trajectory control method, device, device and medium applied to unmanned vehicles. Background technique [0002] With the development of driverless technology, the safety control of driverless vehicles has become an urgent problem to be solved. Usually, trajectory tracking is one of the key references for intelligent vehicle research. The purpose of trajectory tracking control is to accurately track the designed trajectory on the premise of ensuring the comfort and safety of the vehicle. [0003] At present, there are many trajectory tracking algorithms that are widely used. For example, the lateral deviation and heading declination are used as the input of the fuzzy controller, and the speed gain coefficient is used as the output, so as to control the unmanned vehicle. However, in specific applications, there is a problem of la...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 李佳骏杜建宇王恒凯曹天书李超吴岗岗赵逸群王皓南刘清宇
Owner CHINA FIRST AUTOMOBILE