The invention discloses a vehicle maneuvering path following control method and system, and the method comprises the steps: presetting a plurality of transition preview points between main preview points in advance for the emergency steering of a vehicle; inputting a first spacing distance between the current position of the vehicle determined during emergency steering of the vehicle and each obtained transition preview point and a second spacing distance between each transition preview point and a previous target main preview point into a pre-trained neural network; obtaining a transition level of each transition preview point selected as an intermediate transition node of the main preview following path; and taking the transition preview point with the highest transition grade as the middle transition node of the current main preview following path of the vehicle, and driving the vehicle according to a local following path from the middle of the current vehicle position to the previous target main preview point through the determined middle transition node, so that the influence of sudden change of the curvature of the path can be effectively reduced.
本发明公开一种车辆机动路径跟随控制方法及系统,对于车辆紧急转向,预先在主预瞄点之间预设若干过渡预瞄点,将车辆紧急转向时确定的车辆当前位置与获取的各过渡预瞄点的第一间隔距离以及各过渡预瞄点与前一目标主预瞄点的第二间隔距离输入预先训练好的神经网络,获得各个过渡预瞄点被选择为主预瞄跟随路径的中间过渡节点的过渡等级;将过渡等级最高的过渡预瞄点作为车辆当前主预瞄跟随路径的中间过渡节点,车辆按照当前车辆位置中间经过上述确定的中间过渡节点到前一目标主预瞄点的局部跟随路径行驶,可以有效降低路径曲率突变的影响。
Vehicle maneuvering path following control method and system
一种车辆机动路径跟随控制方法及系统
2023-04-21
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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