The invention discloses a vehicle path tracking control method based on dual-model compounding in the field of intelligent vehicle control. An environment sensing module is used for acquiring information in real time; a barrier-free reference path is planned; reference position information, a reference yaw angle and a reference steering angle of the vehicle on the reference path are transmitted to a decision module; a turning angle weight selection module calculates turning angle weights omega1 and omega2 according to the vehicle speed; the decision module calculates a vehicle front wheel rotation angle delta k according to a vehicle kinematics model; a front wheel rotation angle delta y of the vehicle is calculated according to the vehicle dynamics model; a calculation module calculatesa comprehensive front wheel rotation angle delta that the actuator should output according to the turning angle weights omega1 and omega2 and front wheel rotation angles delta k and delat y of the vehicle to obtain the control value, and a control value is obtained. According to the vehicle path tracking control method, the path tracking performance of the vehicle under the low-speed, medium-speedand high-speed working conditions can be considered at the same time, and autonomous steering control over the intelligent vehicle is achieved.
本发明公开智能汽车控制领域中的一种基于双模型复合的车辆路径跟踪控制方法,利用环境感知模块实时采集信息,规划出一条无障碍的参考路径,将车辆在这条参考路径上的参考位置信息、参考横摆角、参考转向角传递给决策模块,转角权值选择模块根据车速计算出转角权值ω1、ω2,决策模块根据车辆运动学模型计算出车辆前轮转角δk,根据车辆动力学模型计算出车辆前轮转角δy,计算模块根据转角权值ω1、ω2和车辆前轮转角δk、δy计算出执行机构应该输出的综合前轮转角δ,得到控制量,本发明能够兼顾车辆在低速、中速与高速工况下路径跟踪性能,实现智能车辆的自主转向控制。
Vehicle path tracking control method based on dual-model compounding
基于双模型复合的车辆路径跟踪控制方法
2020-10-30
Patent
Elektronische Ressource
Chinesisch
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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