Trajectory following control is always the focus of intelligent vehicle research. Path following control is an important part of trajectory following control, accurately and stably following the expected driving path given by the upper level programming algorithm is the research difficulties. In order to improve the accuracy and control smoothness of the path following, a two degrees of freedom vehicle lateral dynamic model was established. Through the reverse analysis of the model, a curvature feedforward control model was proposed and analyzed, then the steering wheel angle can be accurately calculated by path curvature. In order to obtain smooth curvature, a constrained arc fitting method was analyzed and proposed to calculate the expected path curvature. Combined with the curvature constrained arc fitting method and feedforward control model, by constantly updating the sample points sequence in expected driving path, the intelligent vehicle path following control model was established. The following result of the path following method and the Multi-point preview control method was compared on the simulation environment. Finally, the intelligent vehicle platform was built based on MicroAutoBox controller, vehicle path following test was used to verify the method proposed in this paper of path following. The results show that the method can accurately follow the expected path, and the steering wheel angle was stable.
Path Following Method Based on Constrained Arc Fitting and Curvature Feedforward Control
Lect. Notes Electrical Eng.
2022-01-13
16 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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