Aiming at the limitation of the prior art, the invention provides a four-wheel steering unmanned vehicle trajectory tracking control method, which comprises the following steps of: decoupling a planned trajectory into two curvature approximate continuous reference trajectories by taking a front and rear axle center point as a reference point, and taking a vehicle center point as a control point; control of a transverse error and a yaw angle error is decoupled into double-point tracking error control with the central points of the front axle and the rear axle as control points, the freedom degree of the four-wheel steering vehicle can be fully utilized, and the four-wheel steering vehicle can have the in-phase steering capacity, the out-phase steering capacity and the unequal-angle steering capacity without switching steering modes. The method has a larger front and rear wheel rotation angle control domain and high tracking precision.

    本发明针对现有技术的局限性,提出了一种四轮转向无人车辆轨迹跟踪控制方法,通过以前后轴中心点为参考点,将规划轨迹解耦为的两条曲率近似连续参考轨迹,以车辆中心点为控制点,将横向误差和横摆角误差的控制解耦为以前后轴中心点为控制点的双点跟踪误差控制,可以充分利用四轮转向车辆的自由度,实现了无需切换转向模式即可使四轮转向车辆具有同相转向、异相转向和不等角度转向的能力,具有更大的前后轮转角控制域和较高的跟踪精度。


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    Title :

    Trajectory tracking control method for four-wheel steering unmanned vehicle


    Additional title:

    一种四轮转向无人车辆轨迹跟踪控制方法


    Contributors:
    XIONG HUIYUAN (author) / LIU DELIANG (author) / TAN XIAOJUN (author) / LIU YU (author) / PAN YUELONG (author) / ZHANG XUELING (author)

    Publication date :

    2022-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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