The invention relates to an automatic driving automobile track dynamic planning and tracking method based on transverse and longitudinal coordination, the method comprises the following steps of firstly, intensively sampling a motion state in a Frenet space in which an automobile runs to finish transverse and longitudinal local track replanning; in transverse and longitudinal trajectory coordination planning, considering that the automobile in a complex traffic environment and static and dynamic obstacles in the environment cannot be simply equivalent to mass points; introducing a hyperplane theory to evaluate whether a vehicle track interferes with static and dynamic obstacles in a surrounding traffic environment or not and evaluate the risk of collision, and designing the track evaluation index systems such as smoothness, comfort and driving efficiency of the track to evaluate the track quality. In the trajectory tracking stage, a Brush tire model is adopted to design an automatic driving vehicle dynamics manipulation limit constraint rule, and the model predictive control (MPC) is utilized to complete automatic driving vehicle active steering (AFS) and direct yawing moment control (DYC) integrated trajectory tracking control.
本发明涉及一种基于横纵向协调的自动驾驶汽车轨迹动态规划及跟踪方法,首先在车辆行驶的Frenet空间中对运动状态进行密集采样,完成横、纵向的局部轨迹重规划。在横纵向轨迹协调规划中,考虑复杂交通环境中车辆及环境中的静、动态障碍物都不能简单地等效为质点,引入超平面理论评估车辆轨迹是否与周围交通环境中的静、动态障碍物发生干涉及发生碰撞的风险,并设计轨迹的平顺性、舒适性、行使效率等轨迹评价指标体系对轨迹质量进行评估。在轨迹跟踪阶段,采用Brush轮胎模型设计自动驾驶车辆动力学操纵极限约束规则,利用模型预测控制(MPC)完成自动驾驶车辆主动转向(AFS)与直接横摆力矩(DYC)集成轨迹跟踪控制。
Automatic driving automobile track dynamic planning and tracking method based on transverse and longitudinal coordination
一种基于横纵向协调的自动驾驶汽车动态轨迹规划及跟踪方法
30.10.2020
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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