The invention discloses a four-wheel steering vehicle crabbing control method, which is composed of a planning layer, a control layer and an execution layer, and is characterized in that the planning layer triggers crabbing based on a crabbing mode flag bit issued by the upstream of an intelligent driving system, and gives a crabbing track point; the control layer carries out trajectory tracking based on the crab trajectory points and carries out feedback adjustment in real time according to errors; the execution layer controls the whole vehicle to perform short-distance lane changing according to the expected action; therefore, a vehicle crabbing coordinate system is converted into a self-vehicle coordinate system so as to adapt to four typical working conditions of crabbing lane change of the vehicle at a port, and the working conditions comprise crabbing out-of-trap, short-distance crabbing lane change, crabbing detour and cross-lane crabbing lane change. According to the method, the lane changing distance in a narrow scene is shortened, the operation efficiency of the vehicle is improved, meanwhile, the tracking precision in a crabwalk scene can be improved, control overshoot is reduced, the stability for various working conditions is high, the algorithm maintenance optimization efficiency is higher, and the error rate is reduced.
本发明公开了一种四轮转向车辆蟹行控制方法,由规划层、控制层及执行层构成,所述规划层基于智驾系统上游下发的蟹行模式标志位进行触发蟹行,给出蟹行轨迹点;控制层基于蟹行轨迹点进行轨迹跟踪,并实时根据误差进行反馈调整;执行层控制整车按照预期动作进行短距离换道;由此将车辆蟹行坐标系转换至自车坐标系,以适应车辆在港口进行蟹行换道的四种典型工况,所述工况包括蟹行脱困、短距离蟹行换道、蟹行绕行、跨车道蟹行换道。本发明缩短了狭窄场景下的换道距离,有利于提高车辆的运营效率,同时可以提高蟹行场景下的跟踪精度,减少了控制超调的发生,面对多种工况的稳定性较强,算法维护优化效率也更高,减少误差率。
Four-wheel steering vehicle crabbing control method
一种四轮转向车辆蟹行控制方法
2024-04-16
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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