一种考虑跟踪误差约束的自动驾驶汽车轨迹跟踪控制方法
By introducing a sliding mode controller and an error constraint model into the trajectory tracking control of autonomous vehicles, the problem of unconstrained trajectory tracking error is solved, achieving good transient and steady-state performance and improving driving safety.
CN116880486BActive Publication Date: 2026-07-17CHONGQING UNIV
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHONGQING UNIV
- Filing Date
- 2023-07-13
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
Existing technologies have failed to effectively constrain tracking errors in the trajectory tracking control of autonomous vehicles, leading to increased driving risks.
Method used
Based on the vehicle dynamics model and error constraint model, a sliding mode controller is designed to constrain the lateral and heading angle errors in trajectory tracking. An error transformation function and a comprehensive error function model are used to achieve accurate tracking of the desired trajectory.
Benefits of technology
It improves the transient and steady-state performance of trajectory tracking, reduces the risk of vehicle collisions caused by errors, and enhances driving safety.
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Abstract
本发明公开了一种考虑跟踪误差约束的自动驾驶汽车轨迹跟踪控制方法，包括以下步骤：结合车辆与地面的作用力以及轮胎的侧偏现象，对车辆的受力进行分析化简，建立二自由度车辆动力学模型；将航向角误差以及横向轨迹误差作为控制器的跟踪目标，建立车辆轨迹跟踪的误差模型；建立误差转换函数对误差模型进行转换；基于误差转换模型，建立车辆轨迹跟踪的综合误差函数模型；设计滑模控制器对综合误差函数模型进行跟踪。本发明保证了系统在轨迹跟踪中同时具有较好的瞬态性能和稳态性能，保证了车辆轨迹跟踪中的精确性，避免了车辆因轨迹跟踪的误差过大而导致与其它车辆或是障碍物发生碰撞的可能性，进一步提升了行车安全。
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