The invention discloses a preview path railing calculation method for an automatic driving vehicle path railing preview model. The preview path railing calculation method comprises the steps of obtaining automatic driving vehicle system delay; extrapolating and calculating the delayed vehicle position of the system in the global path based on a uniform acceleration model; calculating a preview error; and calculating a tire rotation angle according to the relation between the preview error and the tire rotation angle, calculating a steering wheel rotation angle according to the tire rotation angle, and sending the steering wheel rotation angle to the chassis CAN to execute steering wheel rotation angle control. The invention further discloses a preview path railing calculation module for the automatic driving vehicle. According to the method, the preview path railing calculation error caused by system delay can be reduced (even overcome), and a basis is provided for safe and reliable driving of the vehicle.
本发明公开了一种用于自动驾驶车辆路径跟踪预瞄模型的预瞄路径跟踪计算方法,包括获取自动驾驶车辆系统延时;在全局路径中基于匀加速模型外推计算系统延时后车辆位置;计算预瞄误差;根据预瞄误差与轮胎转角关系计算得到轮胎转角,根据轮胎转角计算得到方向盘转角,将所述方向盘转角发送给底盘CAN执行方向盘转角控制。本发明还公开了一种用于自动驾驶车辆的预瞄路径跟踪计算模块。本发明能降低(甚至克服)系统延时造成的预瞄路径跟踪计算误差,为车辆安全可靠行驶提供了基础。
Preview path railing calculation method and railing calculation module
预瞄路径跟踪计算方法及跟踪计算模块
2020-06-16
Patent
Electronic Resource
Chinese
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 |