Time-delay system path tracking control method and system based on multi-step motion compensation

CN116700263BActive Publication Date: 2026-02-27UNIV OF SCI & TECH BEIJING
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Patent Information

Application Number
CN202310730180.8
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-06-19
Publication Date
2026-02-27
Estimated Expiration
2043-06-19

AI Technical Summary

Technical Problem

In existing autonomous vehicle path tracking control systems, the effects of time delay have not been effectively addressed, especially at high vehicle speeds where control failures are prone to occur. Furthermore, existing motion compensation schemes are inaccurate, cannot be integrated with other controllers, and are only applicable to MPC controllers.

Method used

A path tracking control method for time-delay systems based on multi-step motion compensation is adopted. By combining the system configuration module, multi-step motion compensation module, and connection module with the path tracking control module, the control input sequence is predicted and the key target points are calculated to achieve accurate path tracking control.

Benefits of technology

It effectively solves the impact of system time delay on the performance of vehicle path tracking control, improves control accuracy and stability, is applicable to a variety of controllers, and performs particularly well under high vehicle speed conditions.

✦ Generated by Eureka AI based on patent content.

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Abstract

The application discloses a time-delay system path tracking control method and system based on multi-step motion compensation, and relates to the motion control technical field of unmanned vehicles. The method comprises the following steps: a system configuration module configures the environment of a path tracking control system; after the environment is configured, a multi-step motion compensation module predicts the position and posture of a vehicle when a control input sequence of a current control period is executed according to a control input sequence received by the vehicle during a time delay; a connection module calculates key target points of path tracking control according to the position and posture of the vehicle; and a path tracking control module completes path tracking control of the vehicle according to the key target points. The application can solve the problem that system time delay influences the performance of a vehicle path tracking control system.
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