The invention discloses a vehicle tracking control method suitable for curve driving, which comprises the following steps: establishing a vehicle kinematic model based on an Ackerman steering principle, and simplifying the vehicle kinematic model into a bicycle kinematic model; based on the simplified vehicle kinematic model, constructing a vehicle geometric tracking algorithm to obtain a simplified first relational expression or a simplified second relational expression; in combination with the real-time curvature of the planned path, establishing a third relational expression between the foresight distance and the real-time curvature value of the planned path; calculating the front wheel turning angle of the vehicle in real time based on the first relational expression and the third relational expression or the second relational expression and the third relational expression; and transversely controlling the vehicle according to the front wheel rotation angle. According to the method, the existing geometric tracking algorithm is optimized, so that high-precision tracking of the unmanned vehicle on the planned path at the large-curvature curve is realized.

    本发明公开一种适用于弯道行驶的车辆跟踪控制方法,其包括:基于阿克曼转向原理建立车辆运动学模型,将所述车辆运动学模型简化成自行车运动学模型;基于简化的车辆运动学模型,构建车辆几何跟踪算法,得到简化后的第一关系式或者第二关系式;结合规划路径的实时曲率,建立所述前视距离与规划路径的实时曲率值之间的第三关系式;基于第一关系式和第三关系式或者第二关系式和第三关系式,实时计算车辆的前轮转角;根据前轮转角对车辆进行横向控制。本发明通过对现有几何跟踪算法进行优化,实现无人驾驶车辆在大曲率弯道处对规划路径的高精度跟踪。


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    Title :

    Vehicle tracking control method suitable for curve driving, electronic equipment and computer readable storage medium


    Additional title:

    适用于弯道行驶的车辆跟踪控制方法、电子设备及计算可读存储介质


    Contributors:
    XUE WENQIAN (author) / ZHANG TIEJIAN (author) / WU SONG (author) / YE JIAN (author)

    Publication date :

    2024-03-29


    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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