The invention discloses a humanoid preview distance estimation method and system for path tracking control, and a medium. The method comprises the following steps: constructing a local planning path model; constructing a preview distance model, wherein the model outputs a preview distance; constructing a driving group correction factor model, wherein the model obtains a driving group correction factor; and correcting the preview distance output by the preview distance model according to the driver group correction factor, and reconstructing a local planning path model according to the corrected preview distance. According to the method, the preview habit of a driving group is considered, the preview distances in different driving environments are output through the preview distance model, and the path tracking precision and the vehicle driving stability are both considered.
本申请公开了一种面向路径跟踪控制的仿人预瞄距离估计方法、系统及介质,方法,包括如下步骤:构建局部规划路径模型;构建预瞄距离模型,该模型输出预瞄距离;构建驾驶群体修正因子模型,该模型获得驾驶群体修正因子;根据驾驶群体修正因子修正预瞄距离模型输出的预瞄距离,并根据修正后的预瞄距离重构局部规划路径模型。本申请考虑了驾驶群体的预瞄习惯,并通过预瞄距离模型输出不同驾驶环境下的预瞄距离,兼顾了路径跟踪精度与车辆行驶稳定性。
Human-simulated preview distance estimation method and system for path tracking control, and medium
面向路径跟踪控制的仿人预瞄距离估计方法、系统及介质
2024-08-09
Patent
Electronic Resource
Chinese
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