The invention relates to a pure tracking intelligent vehicle path following control method, which comprises the steps of calculating an expected front wheel turning angle according to a preview distance, an expected path and a vehicle state; calculating transverse deviation and course deviation between the vehicle and the expected path; calculating rotation angle compensation according to the transverse deviation and the course deviation; and adding the expected front wheel rotation angle and the rotation angle compensation to obtain a front wheel rotation angle control quantity. The method has the advantages that on the basis of a traditional pure tracking algorithm, the real-time course deviation between the intelligent vehicle and the expected path is considered, initial deviation elimination is accelerated, oscillation is reduced, the path following precision is improved, and the application requirement of the intelligent vehicle is met.
本发明涉及一种纯跟踪智能车路径跟随控制方法,包括根据预瞄距离、期望路径、车辆状态,计算期望前轮转角;计算车辆与期望路径的横向偏差、航向偏差;根据上述横向偏差、航向偏差,计算转角补偿;将上述期望前轮转角、转角补偿相加,得到前轮转角控制量。有益效果:本发明在传统纯跟踪算法的基础上,考虑到智能车辆与期望路径的实时航向偏差,加快消除初始偏差,减小振荡,提高路径跟随精度,满足智能车的要求达到应用的要求。
Pure tracking intelligent vehicle path following control method
一种纯跟踪智能车路径跟随控制方法
2022-12-20
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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