The invention discloses a comfortable unmanned vehicle path tracking evaluation method, system and device based on an error model, and the method, system and device are composed of two latitude evaluation indexes, wherein E reflects the tracking safety degree while E reflects the riding comfort degree; based on the tracking error model, a future reference point and a past referencepoint, the objectivity and continuity of the evaluation method on a path with large curvature change are improved, and an evaluation equation is issued. According to the evaluation method provided bythe invention, evaluation of different weights can be carried out on two dimensions of tracking safety and riding comfort of the unmanned vehicle by adjusting the weight matrix.
本发明公开了一种基于误差模型舒适无人车路径跟踪评价方法、系统、装置,由两个纬度的评价指标构成:Eerror反映跟踪的安全程度,Ecomfort则反映乘坐舒适度,基于跟踪误差模型,未来参考点和过去参考点,以提高评价方法在曲率变化较大路径上的客观性和连续性;提出评价公式。本发明提出的评价方法可通过调整权重矩阵对无人车跟踪安全性、乘坐舒适性两个维度进行不同权重的评价。
Comfortable unmanned vehicle path tracking evaluation method, system and device based on error model
基于误差模型舒适无人车路径跟踪评价方法、系统及装置
2020-12-18
Patent
Electronic Resource
Chinese
Unmanned vehicle path tracking control method based on nonlinear tire and driver model
European Patent Office | 2021
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