The invention belongs to the field of steering automatic driving control, and particularly relates to an intelligent driving self-adaptive curve preview method. The method comprises the following steps that a position of a preview point in a geodetic coordinate system is determined by using a proposed self-adaptive curve preview method according to a discretized target path and an absolute coordinate of an operation platform; a transverse offset of the preview point relative to the operation platform is obtained through coordinate transformation; and according to a relation between the transverse offset and a steering wheel rotation angle, a steering wheel target rotation angle is represented and serves as a tracking target of a steering control controller, and meanwhile the operation platform outputs motion state information and calculates the absolute coordinate thereof. The method can be suitable for various operation platforms with automatic driving functions, and realized steeringcontrol can achieve a purpose of self-adaptive adjustment by changing the position of the preview point when a speed and a path curvature are changed.
本发明属于转向自动驾驶操纵领域,具体涉及一种智能驾驶自适应曲线预瞄方法。包括以下步骤:根据离散化后的目标路径和作业平台的绝对坐标,利用提出的自适应曲线预瞄方法确定预瞄点在大地坐标系下的位置;通过坐标转换得到预瞄点相对于作业平台的横向偏移量;根据横向偏移量与方向盘转角之间的关系,表征出方向盘目标转角并作为转向操纵控制器的跟踪目标,同时作业平台输出运动状态信息并计算其绝对坐标。本发明的方法,能够适用于各种具有自动驾驶功能的作业平台,实现的转向操纵能够在速度和路径曲率发生变化时,通过改变预瞄点的位置达到自适应调整的目标。
Intelligent driving self-adaptive curve preview method
一种智能驾驶自适应曲线预瞄方法
22.12.2020
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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