The invention relates to the technical field of automatic driving, in particular to a sliding mode trajectory tracking control method, device and equipment and a storage medium, and the method comprises the steps: building a vehicle kinematics model and a vehicle dynamics model; an equivalent rear wheel steering angle is obtained, and a discrete trajectory control model is established based on the vehicle kinematics model, the vehicle dynamics model and the equivalent rear wheel steering angle; acquiring a vehicle expected trajectory and a front axle midpoint coordinate of a vehicle front axle midpoint, generating an expected lateral movement distance sequence based on the vehicle expected trajectory, and calculating a trajectory tracking error based on the front axle midpoint coordinate and the expected lateral movement distance sequence; and based on the expected lateral motion distance sequence, the trajectory tracking error, the discrete trajectory control model and preset design parameters, a sliding mode trajectory tracking control logic is established, and sliding mode control is performed on the vehicle according to the sliding mode trajectory tracking control logic. According to the invention, the automatic driving vehicle can be prevented from chattering.

    本发明涉及自动驾驶技术领域,尤其涉及一种滑模轨迹跟踪控制方法、装置、设备及存储介质,其中方法包括:建立车辆运动学模型与车辆动力学模型;获取等效后轮转向角,基于车辆运动学模型、车辆动力学模型以及等效后轮转向角建立离散轨迹控制模型;获取车辆期望轨迹与车辆前轴中点的前轴中点坐标,基于车辆期望轨迹生成期望侧向运动距离序列,基于前轴中点坐标与期望侧向运动距离序列计算轨迹跟踪误差;基于期望侧向运动距离序列、轨迹跟踪误差、离散轨迹控制模型以及预设的设计参数建立滑模轨迹跟踪控制逻辑,依据滑模轨迹跟踪控制逻辑对车辆进行滑模控制。本发明便于防止自动驾驶车辆出现抖振现象。


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    Titel :

    Sliding mode trajectory tracking control method and device, equipment and storage medium


    Weitere Titelangaben:

    一种滑模轨迹跟踪控制方法、装置、设备及存储介质


    Beteiligte:
    WANG XINZHI (Autor:in) / LIU JINBO (Autor:in) / WANG YU (Autor:in) / ZHANG JIAN (Autor:in) / GAO YUAN (Autor:in) / LI BO (Autor:in)

    Erscheinungsdatum :

    2023-11-10


    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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