The invention provides a weight adaptive transverse and longitudinal coupling tracking control method and system, and the system relates to the technical field of automatic driving. The method comprises the steps: obtaining lane line information in a road in a vehicle driving direction, and forming a tracking trajectory curve; determining the current absolute position of the controlled vehicle and the position relative to the expected trajectory curve; selecting a plurality of target points, generating a plurality of speed vectors expected to be tracked in combination with the current position, calculating a tracking error between a reference speed vector and an actual speed vector and carrying out weight matrix decision making through a weight self-adaption module calculator according to the current curvature and speed; through the acceleration decision-making module, performing acceleration decision making by using the velocity vector tracking error and the weight matrix to obtain expected optimal longitudinal acceleration and transverse acceleration; and using the execution control module to control a steering wheel, an accelerator pedal and a brake pedal, tracking the expected acceleration, and finally, realizing the purpose of transverse and longitudinal coupling tracking control.
本发明提供一种权重自适应横纵向耦合跟踪控制方法及系统,系统涉及自动驾驶技术领域,方法通过获取车辆行驶方向道路中的车道线信息,形成跟踪轨迹曲线;确定被控车辆当前绝对位置,以及与期望轨迹曲线的相对位置;将选取多个目标点,结合当前位置生成多个期望跟踪的速度矢量,计算参考速度矢量及实际速度矢量之间的跟踪误差,通过权重自适应模块计算器根据当前曲率和速度进行权重矩阵的决策;加速度决策模块利用速度矢量跟踪误差及权重矩阵,进行加速度决策,得到期望的最优纵向加速度和横向加速度;利用执行控制模块控制方向盘、加速踏板和制动踏板,对期望加速度进行跟踪,最终实现横纵向耦合跟踪控制的目的。
Weight adaptive transverse and longitudinal coupling tracking control method and system
一种权重自适应横纵向耦合跟踪控制方法及系统
2021-11-12
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 |
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