Articulated vehicle path tracking control method

A tracking control and vehicle path technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve the problem of not being able to track the same path well, so as to reduce the incidence of driving accidents, good path tracking, The effect of improving work efficiency

Active Publication Date: 2021-11-30
JILIN UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004]The purpose of the present invention is to provide a path tracking control method for articulated vehicles to solve the problem that the two parts of the vehicle body cannot track the same path well

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  • Articulated vehicle path tracking control method
  • Articulated vehicle path tracking control method
  • Articulated vehicle path tracking control method

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Embodiment Construction

[0023] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The embodiments listed in the present invention are only used to illustrate the present invention, but not to limit the scope of the present invention. Any obvious modifications or changes made to the present invention do not depart from the spirit and scope of the present invention.

[0024] A path tracking control method for an articulated vehicle, comprising the following steps:

[0025] Step S1, according to the existing reference path point as the reference point of the front vehicle body, calculate the path reference point of the rear vehicle body;

[0026] Step S2, obtaining the current position of the vehicle;

[0027] Step S3, find the path point closest to the front axle on the reference path of the front axle, and find the path point ...

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Abstract

The invention discloses an articulated vehicle path tracking control method. The method comprises the following steps of S1, calculating a path reference point of a rear vehicle body according to a path reference point of a front vehicle body and an articulated vehicle model; S2, obtaining the current position of the vehicle; S3, finding a path point closest to the front axle and the rear axle; S4, searching N points forward as preview points of the front axle and the rear axle according to the nearest path point; S5, calculating a front axle preview position error, a course error, a rear axle preview position error and a course error; S6, inputting all errors into a path tracking controller; and S7, calculating the control quantity according to the PID controller, and carrying out steering control on the vehicle. Front and rear axle path planning is carried out on the articulated vehicle, preview position deviation and course deviation of the front and rear axles are calculated, steering control is carried out on the articulated vehicle through the control quantity calculated by the controller, and articulated vehicle path tracking control is achieved.

Description

technical field [0001] The invention relates to the technical field of vehicle travel path control, in particular to an articulated vehicle path tracking control method. Background technique [0002] The articulated vehicle consists of two parts, the front and the rear, and the middle is connected by a hinge mechanism. This structure can reduce the turning radius, improve the handling stability of the vehicle, and better adapt to the non-structural environment. However, due to its harsh working environment and frequent acceleration and steering maneuvers, it will affect the driver's health and work efficiency. The unmanned driving of articulated vehicles is a way to improve this situation, and the path following control method is one of the core technologies for realizing autonomous driving. Therefore, a path tracking control method suitable for articulated vehicles with better tracking accuracy and tracking stability is very important for unmanned articulated vehicles. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 姚宗伟王永戴红灿赵全晓张震之
Owner JILIN UNIV
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