The invention particularly relates to a vehicle transverse and longitudinal cooperative tracking method based on a difference innovation search algorithm, and the method comprises the steps: planning a starting point and an ending point of a path through a path planning module, and calculating an expected course angle, a road curvature, an expected transverse position and an expected longitudinal position of the path; constructing an LQR controller by using the established vehicle tracking error dynamic model according to the vehicle information monitored by the state observer and the road information of path planning; calculating an optimal control law of the LQR controller by using a difference innovation search algorithm; the optimal control law is brought into an LQR controller, the front wheel turning angle of the vehicle is calculated through a final calculation module, meanwhile, a transverse error ed is introduced to be calculated through a PID controller, and therefore the problem of insufficient steering of the vehicle is solved; and the longitudinal controller performs calculation according to the position error, the vehicle information and the road information to obtain the throttle valve opening degrees of a vehicle accelerator and a brake so as to control the speed of the vehicle.
本发明具体涉及一种基于差异创新搜索算法的车辆横纵向协同跟踪方法,使用路径规划模块对路径的起点和终点进行规划,并计算出该路径的期望航向角、道路曲率、期望横向位置、期望纵向位置;利用建立的车辆跟踪误差动力学模型,以状态观测器监测到的车辆信息和路径规划的道路信息构建LQR控制器;利用差异创新搜索算法计算出LQR控制器的最优控制律;将最优控制律带入到LQR控制器中经过最终计算模块,计算出车辆的前轮转角,同时引入了横向误差ed通过一个PID控制器进行计算,从而解决车辆转向不足的问题;纵向控制器通过位置误差、车辆信息和道路信息进行计算得到车辆油门和刹车的节气门开度进而控制车辆的速度。
Vehicle transverse and longitudinal cooperative tracking method based on difference innovation search algorithm
一种基于差异创新搜索算法的车辆横纵向协同跟踪方法
22.11.2024
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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