The invention belongs to the technical field of articulated vehicle unmanned driving, and particularly relates to an articulated vehicle-oriented parking trajectory planning and tracking control method and system. The method comprises the following steps: constructing an articulated vehicle kinematics model and a tracking deviation model; designing an uncertain nonlinear system according to the kinematics model and the tracking deviation model of the articulated vehicle; according to the uncertain nonlinear system, constructing an objective function and a constraint function to obtain an optimization problem description of the uncertain nonlinear system; solving an uncertain nonlinear system optimization problem to obtain a parking trajectory planning and tracking control scheme; the articulated vehicle realizes automatic parking according to the parking trajectory planning and tracking control scheme; according to the invention, the planned trajectory and tracking control process have rapid adaptation capability, the requirements of actual scenes are better met, and the practicability is high.
本发明属于铰接式车辆无人驾驶技术领域,具体涉及一种面向铰接式车辆的泊车轨迹规划和跟踪控制方法及系统;该方法包括:构建铰接车运动学模型和跟踪偏差模型;根据铰接车运动学模型和跟踪偏差模型,设计不确定非线性系统;根据不确定非线性系统,构建目标函数和约束函数,得到不确定非线性系统最优化问题描述;求解不确定非线性系统最优化问题,得到泊车轨迹规划和跟踪控制方案;铰接式车辆根据泊车轨迹规划和跟踪控制方案实现自动泊车;本发明规划的轨迹和跟踪控制过程具有快速适配能力,更符合实际场景的需要,实用性高。
Parking trajectory planning and tracking control method and system for articulated vehicle
一种面向铰接式车辆的泊车轨迹规划和跟踪控制方法及系统
2022-08-30
Patent
Elektronische Ressource
Chinesisch
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