The invention belongs to the technical field of automobile automatic driving, and particularly relates to an automatic driving trajectory tracking control method based on multiple driving modes of an omni-directional moving vehicle, which comprises the following steps: S1, designing a four-wheel steering mode trajectory tracking controller; s2, designing a pivot steering trajectory tracking controller; s3, designing a skew mode trajectory tracking controller; and track information is established, a diagonal steering mode and pivot steering mode switching test is carried out, and a diagonal steering mode and pivot steering mode switching test is carried out. Through the switching logic of the automatic driving mode realized by the finite-state machine, the omni-directional moving vehicle can be automatically switched to a proper driving mode according to the requirement of an upper planning layer under the medium-low speed working condition, so that high-precision curve tracking is performed, and the method has practical significance.
本发明属于汽车自动驾驶技术领域,尤其为一种基于全向移动车辆多行驶模式的自动驾驶轨迹跟踪控制方法,包括以下步骤:S1、设计四轮转向模式轨迹跟踪控制器;S2、设计原地转向轨迹跟踪控制器;S3、设计斜行模式轨迹跟踪控制器;建立轨迹信息,进行斜行和与原地转向模式切换测试,进行斜行和原地转向模式切换测试。本发明通过有限状态机所实现的自动驾驶行驶模式的切换逻辑,可以在中低速工况下实现全向移动车辆根据上层规划层的需要自动切换到适当的行驶模式,从而进行高精度曲线的跟踪,具有现实意义。
Automatic driving trajectory tracking control method based on multiple driving modes of omni-directional moving vehicle
一种基于全向移动车辆多行驶模式的自动驾驶轨迹跟踪控制方法
2022-07-08
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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