The invention discloses a discontinuous curvature trajectory tracking control method based on a self-adaptive preview path, and the method comprises the steps: building a straightway safety speed constraint and a curve safety speed constraint, carrying out the judgment of the movement speed of a vehicle according to the curvature of a road, building a self-adaptive preview distance model according to a curvature range, and obtaining an optimal preview distance; setting a quintic polynomial trajectory fitting equation by taking the current position of the vehicle as an original point according to the vehicle parameters and the optimal preview distance; solving a quintic polynomial path fitting problem according to a principle that the quadratic sum of vehicle position deviation and slope deviation is minimum to obtain an adaptive preview path, and enabling the preview path to be in a lane by utilizing road boundary constraint conditions to ensure the safety of vehicle movement; a preview error model is established according to the position geometry and pose information of the vehicle, the tracking error of the vehicle at the moment is calculated through the preview error model, the front wheel turning angle is calculated according to the vehicle steering relational equation, and trajectory tracking control over the vehicle is achieved.
本发明公开了一种基于自适应预瞄路径的非连续曲率轨迹跟踪控制方法,建立直道安全速度约束和弯道安全速度约束,根据道路曲率,对车辆运动速度进行判定,并根据曲率范围,建立自适应预瞄距离模型,得到最优预瞄距离;以车辆当前位置为原点,根据车辆参数及最优预瞄距离,设置五次多项式轨迹拟合方程;按车辆位置偏差与斜率偏差平方和最小的原则,求解五次多项式路径拟合问题得到自适应预瞄路径,同时利用道路边界约束条件,使预瞄路径处于车道内,保证车辆运动的安全性;根据车辆位置几何及位姿信息建立预瞄误差模型,通过预瞄误差模型,计算车辆此刻的跟踪误差,根据车辆转向关系式方程,计算前轮转角,实现车辆的轨迹跟踪控制。
Discontinuous curvature trajectory tracking control method based on adaptive preview path
一种基于自适应预瞄路径的非连续曲率轨迹跟踪控制方法
2023-10-10
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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