The invention discloses an intelligent vehicle curve driving automatic lane changing tracking control method, which comprises the following steps: constructing a curve emergency obstacle avoidance path planning model, and generating a target driving track of a vehicle; and tracking control is carried out on the vehicle, so that the error between the actual driving track and the target driving track of the vehicle meets the expected requirement. The method has a better path planning effect, and can meet the stability requirement and constraint condition of the vehicle, so that the tracking control of the vehicle is more accurate, the error is smaller, and the operation is easier.
本发明公开了一种智能汽车弯道行驶自动换道跟踪控制方法,包括:构建弯道紧急避障路径规划模型,生成车辆的目标行驶轨迹;对车辆进行跟踪控制,使得车辆的实际行驶轨迹与目标行驶轨迹之间的误差满足预期要求。本发明具有更好的路径规划效果,能够满足车辆的稳定性要求与约束条件,使得车辆的跟踪控制更加精确、误差更小、操作更容易。
Intelligent automobile curve driving automatic lane changing tracking control method
智能汽车弯道行驶自动换道跟踪控制方法
2023-05-30
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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