The invention discloses a trajectory tracking control method for optimizing a preview distance, and relates to the technical field of automatic driving, and the method comprises the steps: constructing a preview distance function and an optimization objective function, and setting constraint conditions; determining a k value and substituting the k value into the preview distance function; calculating a front wheel rotation angle at the t + 1 moment through a pure tracking algorithm; predicting a vehicle position at the t + 1 moment by using a vehicle kinematics model; according to the predicted matching point and the vehicle position, calculating to obtain a predicted lateral error; substituting the predicted lateral error into the optimization objective function; judging whether the number of iterations n is smaller than the number of iterations threshold N or not, if yes, n = n + 1, and skipping to the step of determining the k value; if not, taking a front wheel rotation angle corresponding to the minimum target function in N iterations as a front wheel rotation angle command; and issuing the front wheel steering angle command to a chassis steering controller. According to the invention, the preview distance is optimized, and the delay factor of the steering mechanism is made up, so that the trajectory tracking precision and the vehicle stability are improved.
本发明公开一种优化预瞄距离的轨迹跟踪控制方法,涉及自动驾驶技术领域,包括:构建预瞄距离函数和优化目标函数,并设置约束条件;确定k值并将k值代入预瞄距离函数中;通过纯追踪算法计算t+1时刻的前轮转角;利用车辆运动学模型,预测t+1时刻的车辆位置;根据预测匹配点和车辆位置,计算得到预测横向误差;将预测横向误差代入优化目标函数;判断迭代次数n是否小于迭代次数阈值N,若是,n=n+1,跳转至确定k值步骤;若否,取N次迭代中目标函数最小时对应的前轮转角作为前轮转角命令;将前轮转角命令下发至底盘转向控制器。本发明优化了预瞄距离,并弥补了转向机构的延迟因素,从而提高了轨迹跟踪精度和车辆稳定性。
Trajectory tracking control method and system for optimizing preview distance
一种优化预瞄距离的轨迹跟踪控制方法及系统
2024-04-09
Patent
Electronic Resource
Chinese
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