The invention relates to the technical field of automatic driving, and discloses an efficient ecological driving trajectory tracking control method considering motion prediction deviation of surrounding vehicles, which comprises the following steps of: based on a motion prediction result of the surrounding vehicles under multi-vehicle interference, analyzing an error of predicted driving intentions and an error of predicted driving trajectories of the surrounding interference vehicles, and establishing a safe vehicle distance constraint condition; based on a multi-target long period-short time domain longitudinal and transverse track rolling optimization model, determining a rolling optimization vehicle speed and an optimization rotation angle of a self-vehicle motion track; and establishing a kinetic model of self-vehicle movement, establishing a cost function of longitudinal and transverse trajectory tracking control in combination with a safe vehicle distance constraint condition, and solving the cost function to realize trajectory tracking control. According to the efficient ecological driving trajectory tracking control method provided by the invention, stable tracking control of longitudinal and transverse optimization parameters is realized by accurately establishing a safe vehicle distance constraint condition, rolling optimization vehicle speed and optimization rotation angle, and the robustness of efficient ecological driving control under multi-vehicle interference is ensured.
本发明涉及自动驾驶技术领域,公开了考虑周车运动预测偏差的高效生态驾驶轨迹跟踪控制方法,包括:基于多车干扰下周围车辆的运动预测结果,分析周围干扰车辆预测行驶意图的误差和预测行驶轨迹的误差,建立安全车距约束条件;基于多目标的长周期‑短时域纵横向轨迹滚动优化模型,确定自车运动轨迹的滚动优化车速和优化转角;建立自车运动的动力学模型,并结合安全车距约束条件建立纵横向轨迹跟踪控制的成本函数,对成本函数进行求解实现轨迹跟踪控制。本发明提供的高效生态驾驶轨迹跟踪控制方法,通过准确建立安全车距约束条件和滚动优化车速及优化转角,实现纵横向优化参数稳定跟踪控制,保证多车干扰下高效生态驾驶控制的鲁棒性。
Efficient ecological driving trajectory tracking control method considering surrounding vehicle motion prediction deviation
考虑周车运动预测偏差的高效生态驾驶轨迹跟踪控制方法
2024-05-14
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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