Reverse Trajectory Tracking Using Front-Wheel Angle Correction
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Solution Overview
Problem
Existing trajectory tracking methods primarily support forward travel environments and lack flexibility and broad application in reverse travel scenarios, particularly in autonomous parking systems which require specific arc-based reference trajectories.
Innovation Solution
A reverse trajectory tracking method and apparatus that determine an expected front wheel turning angle based on heading and lateral errors, and vehicle speed, allowing for real-time adjustment of actual wheel angles to accurately track trajectories in reverse travel, applicable to both autonomous and non-autonomous vehicles, with flexibility in reference trajectory shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing trajectory tracking methods are used for reverse travel, then the system can operate in forward travel environments, but it cannot support reverse travel scenarios
Solution Approach 1:
The patent applies inversion by transforming the forward-travel trajectory tracking method into a reverse-travel applicable method. This is achieved by reversing the trajectory points and inverting the steering angle calculations, allowing the system to track reverse trajectories accurately using the same underlying control architecture designed for forward motion.
Solution Approach 2:
The patent changes key parameters including the trajectory point sequence (reversed), steering angle direction (inverted), and control input signs to adapt the forward-travel control system for reverse-travel scenarios. These parameter transformations enable the existing control algorithm to function correctly in reverse motion without requiring complete system redesign.
2Reliability
If arc-based reference trajectories are used in parking systems, then reverse trajectory tracking can be achieved, but the method lacks flexibility and has narrow application range
Solution Approach 1:
The patent creates a universal trajectory tracking method that works for both forward and reverse travel, and supports multiple trajectory shapes including but not limited to arc-based trajectories. The method can handle any reference trajectory by reversing points and adjusting steering angles, making it applicable to parking, narrow road passages, and other reverse travel scenarios with diverse path requirements.
3Device complexity
If existing forward travel trajectory tracking methods are applied to reverse travel, then the system structure remains simple, but the tracking accuracy and control precision deteriorate
Solution Approach 1:
The patent introduces dynamic adjustments to the control parameters based on travel direction. The system dynamically reverses trajectory points and inverts steering angle calculations when transitioning from forward to reverse travel, enabling accurate tracking adaptation without changing the fundamental system structure or adding complex hardware components.
Data Source
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AI summary
A reverse trajectory tracking method and apparatus, an electronic device and a storage medium are disclosed by the present application, which relates to a field of autonomous driving, and in particular to a field of autonomous parking and a field of trajectory tracking. The method includes: acquiring positioning information and reference trajectory of a vehicle; determining a heading error and a lateral error of the vehicle relative to a reference trajectory based on the positioning information and reference trajectory of the vehicle; determining an expected front wheel turning angle of the vehicle based on the heading error, the lateral error and a speed of the vehicle; adjusting an actual front wheel turning angle of the vehicle according to the expected front wheel turning angle of the vehicle.