The invention discloses an unmanned curve collision avoidance trajectory planning and tracking control method, which comprises the steps of establishing a vehicle dynamics model according to driving state information and position information of a vehicle and a barrier vehicle in combination with a control algorithm; according to the road information parameters, the road curvature, the collision time of the vehicle and the obstacle vehicle, and the obstacle avoidance area and the constraint condition of the adjacent lane, performing simulation trajectory planning; and performing path tracking control according to the vehicle dynamics model and the simulation track, determining a collision avoidance strategy, and fitting an optimal collision avoidance path. According to the method, driving state information, position information and road information of a vehicle and an obstacle vehicle are obtained, a collision avoidance strategy is determined according to the road curvature, the collision time of the vehicle and the obstacle vehicle and the obstacle avoidance area and constraint conditions of adjacent lanes, an optimal collision avoidance path is fitted, and the curve collision avoidance function of the driverless vehicle in the state that the vehicle speed is not constant is achieved.
本发明公开了一种无人驾驶弯道避撞轨迹规划与跟踪控制方法包括,根据自车与障碍车行驶状态信息和位置信息结合控制算法,建立车辆动力学模型;根据道路信息参数、道路曲率、自车与障碍车的碰撞时间以及相邻车道的避障区域和约束条件,进行模拟轨迹规划;根据所述车辆动力学模型与所述模拟轨迹,进行路径跟踪控制,确定避撞策略,拟合出最优避撞路径。通过获取自车与障碍车的行驶状态信息、位置信息以及道路信息,根据道路曲率、自车与障碍车的碰撞时间以及相邻车道的避障区域和约束条件,确定避撞策略,拟合出最优避撞路径,实现车速不恒定状态下无人驾驶汽车弯道避撞功能。
Unmanned curve collision avoidance trajectory planning and tracking control method
一种无人驾驶弯道避撞轨迹规划与跟踪控制方法
2022-11-04
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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