The invention provides a transverse control method based on trajectory boundary self-adaption, which is applied to an unmanned vehicle and comprises the following steps: step 1, generating a vehicle trajectory boundary according to an optimal vehicle trajectory; step 2, setting a preview point and a preview point selection range on the optimal track; 3, according to the relation between the distance between the preview points from the vehicle to the trajectory boundaries on the two sides and the path length, obtaining the trajectory boundaries subjected to width self-adaptive adjustment in the preview point selection range; 4, according to the adjusted track boundary and the vehicle kinematics model, the curvature of each point from the vehicle to the boundary is calculated, the point with the minimum curvature is determined, and the position information of the optimal preview point corresponding to the point with the minimum curvature is obtained; and step 5, according to the position information of the optimal preview point and a vehicle kinematics model, outputting a front wheel steering angle control quantity, and realizing transverse control of the vehicle. According to the method, absolute dependence on the longitudinal vehicle speed in transverse trajectory tracking is reduced, transverse and longitudinal control is decoupled, the vehicle can pre-judge the road environment, internal tangent is avoided, and stable and accurate transverse trajectory tracking is achieved.
本发明提供一种基于轨迹边界自适应的横向控制方法,应用于无人驾驶车辆,所述方法包括:步骤1,根据车辆最优轨迹,生成车辆轨迹边界;步骤2,设置最优轨迹上的预览点和预览点选取范围;步骤3,根据车辆到两侧轨迹边界的预览点间距与路径长度的关系,获得在预览点选取范围内进行宽度自适应调整的轨迹边界;步骤4,根据调整后的轨迹边界和车辆运动学模型,计算自车到边界各点的曲率,确定曲率最小的点,获取与其对应的最佳预览点位置信息;步骤5,根据最佳预览点的位置信息和车辆运动学模型,输出前轮转角控制量,实现车辆的横向控制。该方法降低了在横向轨迹跟踪中对纵向车速的绝对依赖,解耦横纵向控制,可以使车辆对于道路环境进行预判,避免内切,实现稳定精准的轨迹横向跟踪。
Transverse control method based on trajectory boundary self-adaption
一种基于轨迹边界自适应的横向控制方法
2024-04-26
Patent
Elektronische Ressource
Chinesisch
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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