The invention belongs to the technical field of unmanned driving, and discloses an unmanned vehicle control method and device based on adaptive preview, and the method comprises the steps: constructing a linear tracking error model based on vehicle kinematics, and determining a pre-driving road track of a source vehicle; obtaining a target track point through the pre-driving road track; constructing an adaptive preview time model about the steering control quantity and the preview time of the source vehicle, and taking the transverse deviation, the course angle deviation and the transverse acceleration between the target track point and the preview track point as state quantities calculated by the model; and iteratively calculating a minimum value of preview time in the adaptive preview time model to obtain a target steering control quantity, and acting the target steering control quantity on the source vehicle. In conclusion, dynamic adjustment of the preview time can be effectively carried out according to the current vehicle speed and the characteristics of the road ahead, and then the early warning, guiding and control precision of all safety driving systems is improved.

    本发明属于无人驾驶技术领域,公开了一种基于自适应预瞄的无人驾驶车辆控制方法及控制装置,其中方法包括:构建基于车辆运动学的线性跟踪误差模型,并用于确定关于源车辆的预行驶道路轨迹;通过所述预行驶道路轨迹获取目标轨迹点;构建关于源车辆的转向控制量与预瞄时间的自适应预览时间模型,且以目标轨迹点与预瞄轨迹点之间的横向偏差、航向角偏差和横向加速度为模型计算的状态量;迭代计算所述自适应预览时间模型中预瞄时间的最小值,以获得目标转向控制量,并将所述目标转向控制量作用于源车辆。综上,能有效根据当前车速和前方道路特点进行预瞄时间的动态化调整,进而提高各安全行驶系统的预警、引导、控制精度。


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    Titel :

    Unmanned vehicle control method and device based on self-adaptive preview


    Weitere Titelangaben:

    一种基于自适应预瞄的无人驾驶车辆控制方法及控制装置


    Beteiligte:
    LI YIPING (Autor:in) / WANG JINHUA (Autor:in) / WANG TING (Autor:in) / XI JIN (Autor:in)

    Erscheinungsdatum :

    2022-11-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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