The invention discloses an automatic driving vehicle trajectory tracking method based on combined control of vehicle kinematics and longitudinal dynamics, which comprises the following steps: 1, a linear model predictive controller based on the vehicle kinematics calculates an optimal longitudinal vehicle speed and a front wheel steering angle, and eliminates a position error and a course angle error between a vehicle position and a reference trajectory; 2, designing a nonlinear model prediction controller based on the vehicle longitudinal dynamics model; the controller adjusts the torque of the motor according to a target vehicle speed obtained by vehicle kinematics control; the traditional speed control is replaced by the torque control, so that the road gradient and the road surface utilization adhesion coefficient can be taken into consideration, the proposed method can be better suitable for different road conditions, the slip rate can be controlled to ensure the anti-slip safety of wheels, and the trajectory tracking precision is improved; the two controllers are connected through a longitudinal vehicle speed to jointly complete a trajectory tracking task. According to the invention, the control precision of trajectory tracking can be obviously improved, and the anti-skid safety of wheels is ensured.
本发明公开了一种基于车辆运动学和纵向动力学组合控制的自动驾驶车辆轨迹跟踪方法,包括:1.基于车辆运动学的线性模型预测控制器计算出最优纵向车速和前轮转角,消除车辆位置与参考轨迹之间的位置误差以及航向角误差;2.基于车辆纵向动力学模型设计非线性模型模型预测控制器;该控制器根据由车辆运动学控制得到的目标车速对电机转矩进行调节;通过转矩控制代替传统速度控制可以将道路坡度和路面利用附着系数纳入考虑,使得所提出方法能更好适用于不同道路条件,同时能控制滑移率来保证车轮防滑安全,提高轨迹跟踪精度;两个控制器通过纵向车速连接,共同完成轨迹跟踪任务。本发明能显著提高轨迹跟踪的控制精度,并保证车轮防滑安全性。
Automatic driving vehicle trajectory tracking method based on combined control of vehicle kinematics and longitudinal dynamics
基于车辆运动学和纵向动力学组合控制的自动驾驶车辆轨迹跟踪方法
2023-11-10
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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