The invention discloses a track vehicle trajectory tracking method based on yaw velocity, and belongs to the technical field of automatic driving. According to the method, geometric analysis is carried out on the lateral error of the current pose of a vehicle, weighted operation is carried out on the lateral error and the course error together to obtain a target deflection angle, the target deflection angle is converted into the yaw velocity of a target through the kinematics of the vehicle, and the yaw velocity is issued to an operating mechanism to be executed. Based on the above algorithm, the yaw velocity of the vehicle is subjected to feedback control in real time.

    本发明公开了一种基于横摆角速度的履带式车辆轨迹跟踪方法,属于自动驾驶技术领域。该方法是通过对车辆当前位姿的横向误差进行几何学解析,并与航向误差共同进行加权运算获得目标偏转角,并通过车辆的运动学将目标偏转角转化为目标的横摆角速度,并下发给操纵机构进行执行。基于上述算法,以实现实时对车辆的横摆角速度进行反馈控制。


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    Titel :

    Tracked vehicle trajectory tracking method based on yaw velocity


    Weitere Titelangaben:

    一种基于横摆角速度的履带式车辆轨迹跟踪方法


    Beteiligte:
    ZHANG CHUNHUI (Autor:in) / LI XIAOYU (Autor:in) / KOO DAE-WON (Autor:in)

    Erscheinungsdatum :

    2023-11-07


    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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