The invention provides a large-curvature curve turning planning and control method for an autonomous vehicle, and the method comprises the following steps: obtaining path information in a current scene, collecting a reference path, and planning a target speed; acquiring state information of the vehicle; acquiring a reference path point in a reference path according to the position of a vehicle preview point, calculating a transverse position error and a course angle error according to the transverse and longitudinal coordinates and the course angle of the reference path point and the transverse and longitudinal coordinates and the course angle of the preview point, and inputting the transverse position error and the course angle error into a transverse controller; the transverse controller is established based on a variable parameter state feedback control algorithm of a table look-up method; inputting a difference value between a reference speed generated by a target speed through a tracking differentiator and a longitudinal speed of the vehicle in an inertial coordinate system XOY into a longitudinal controller; the longitudinal controller is established based on a terminal-free model predictive control algorithm; tD is added in a model prediction control algorithm to arrange a transition process for a specified speed signal, so that longitudinal speed tracking is more stable and smoother.
本申请提供的一种自动驾驶车辆的大曲率弯道过弯规划与控制方法,包括以下步骤:获取当前场景中的路径信息,采集参考路径,并规划出目标速度;获取车辆的状态信息;根据车辆预瞄点位置在参考路径中获取参考路径点,由参考路径点的横纵坐标及航向角与预瞄点的横纵坐标及航向角计算横向位置误差与航向角误差,并输入到横向控制器中;所述横向控制器基于查表法的变参数状态反馈控制算法建立的;将目标速度通过跟踪微分器产生的参考速度与车辆在惯性坐标系XOY中纵向速度的差值输入到纵向控制器中;所述纵向控制器基于无终端模型预测控制算法建立的;模型预测控制算法中加入TD对指定的速度信号安排过渡过程,使得纵向速度跟踪更加稳定平滑。
Large-curvature curve turning planning and control method for autonomous vehicle
一种自动驾驶车辆的大曲率弯道过弯规划与控制方法
2023-09-29
Patent
Elektronische Ressource
Chinesisch
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