The invention provides a two-way driving path tracking control method and system for a hinged steering vehicle, and relates to the technical field of motion control of unmanned vehicles, and the method comprises the steps: constructing a hardware platform for two-way driving of the hinged steering vehicle; reference point selection is carried out on the forward driving path of the hinged steering vehicle; reference point selection is conducted on the reverse running path of the hinged steering vehicle; and based on the hardware platform and the reference point, carrying out two-way driving path tracking control on the hinged steering vehicle. The invention provides a hardware platform setting method to solve the problem that an existing hinged steering vehicle unmanned driving system cannot provide rear axle position attitude information, and then provides a switching reference point selection method under a bidirectional driving condition to solve the problem that reference points are different due to different control points during forward driving and reverse driving. A path tracking control framework with a rear axle midpoint as a control point under a reverse driving condition is provided, and the problem of realizing reverse path tracking under the condition that the positive direction of a positioning system is not changed is solved.

    本发明提供一种铰接转向车辆双向行驶路径跟踪控制方法及系统,涉及无人驾驶车辆的运动控制技术领域,包括:构建铰接转向车双向行驶的硬件平台;对铰接转向车的正向行驶路径进行参考点选取;对铰接转向车的反向行驶路径进行参考点选取;基于硬件平台和参考点,进行铰接转向车的双向行驶路径跟踪控制。本发明提出硬件平台设置方法,解决现有铰接转向车辆无人驾驶系统无法提供后桥位置姿态信息的问题,其次提出双向行驶工况下的切换参考点选取方法,解决正向行驶和反向行驶时控制点不同导致的参考点不同问题。提出了一种反向行驶工况下,以后桥中点为控制点的路径跟踪控制框架,解决在不改变定位系统正方向的情况下实现反向路径跟踪的问题。


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    Title :

    Two-way driving path tracking control method and system for hinged steering vehicle


    Additional title:

    一种铰接转向车辆双向行驶路径跟踪控制方法及系统


    Contributors:
    BAI GUOXING (author) / YANG XIN (author) / MENG YU (author) / GU QING (author) / LIU LI (author) / CHEN SHANYAO (author)

    Publication date :

    2023-11-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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