The invention relates to an anthropomorphic vehicle trajectory tracking control method, a trajectory tracking control system used in the method comprises a calculation unit, and the calculation unit comprises a preview module, a preview deviation calculation module, a feedback correction module and a rotation angle calculation module. Wherein the preview module is used for calculating a preview distance PrvDis according to a target trajectory parameter LanePars and a vehicle speed VehSpd, the preview deviation calculation module is used for calculating a transverse deviation PrvYErr from a preview point to a trajectory according to the target trajectory parameter LanePars and the preview distance PrvDis, and the feedback correction module is used for calculating a front wheel steering angle feedback control quantity DetafFedBak according to the transverse deviation PrvYErr. And the rotation angle calculation module is used for calculating an expected steering wheel rotation angle ExpSW according to the front wheel rotation angle feedback control quantity DetafFedBak and outputting the expected steering wheel rotation angle ExpSW. The parameters of the feedback controller are dynamically adjusted according to the lateral acceleration and the change rate of the lateral acceleration, the driving control characteristics after people perceive the automobile motion response are simulated, the personification degree is high, and the comfort and credibility of automatic driving control can be effectively improved.
本发明涉及一种拟人化车辆轨迹跟踪控制方法,使用的轨迹跟踪控制系统包括计算单元,计算单元包括预瞄模块、预瞄偏差计算模块、反馈校正模块和转角计算模块;其中,预瞄模块用于根据目标轨迹参数LanePars和车速VehSpd计算出预瞄距离PrvDis,预瞄偏差计算模块用于根据目标轨迹参数LanePars和预瞄距离PrvDis计算出预瞄点到轨迹的横向偏差PrvYErr,反馈校正模块用于根据横向偏差PrvYErr计算出前轮转角反馈控制量DetafFedBak,转角计算模块用于根据前轮转角反馈控制量DetafFedBak计算出期望的方向盘转角ExpSW并输出。本发明根据侧向加速度及其变化率动态调整反馈控制器参数,模拟人感知汽车运动响应后的驾驶操控特性,拟人化程度高,可有效提高自动驾驶操控的舒适度和可信度效果。
Personified vehicle trajectory tracking control method
一种拟人化车辆轨迹跟踪控制方法
2022-06-10
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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