The invention discloses a vehicle trajectory tracking prediction system and method. The system comprises a prediction time domain selection module, a weight fuzzy control module and a model prediction control module, and the prediction time domain selection module is used for determining a prediction time domain based on the longitudinal speed of a vehicle and sending the prediction time domain to the model prediction control module; the weight fuzzy control module is used for determining a lateral error weight based on the lateral error and the lateral error change rate of the vehicle and sending the lateral error weight to the model prediction control module; and the model prediction control module is used for determining a target front wheel turning angle as a prediction result of vehicle trajectory tracking according to the prediction time domain, the transverse error weight and the vehicle driving information. By the adoption of the technical scheme, the problem that a traditional MPC cannot meet the trajectory tracking precision under the condition of different vehicle speeds is solved, the trajectory tracking effect is improved, and stability and comfort in the trajectory tracking process can be considered at the same time.
本发明公开了一种车辆轨迹跟踪的预测系统以及方法。该系统包括:预测时域选择模块、权重模糊控制模块以及模型预测控制模块,其中:预测时域选择模块用于基于车辆的纵向车速,确定预测时域并发送至模型预测控制模块;权重模糊控制模块用于基于车辆的横向误差以及横向误差变化率,确定横向误差权重并发送至模型预测控制模块;模型预测控制模块用于根据预测时域、横向误差权重以及车辆行驶信息,确定目标前轮转角,作为车辆轨迹跟踪的预测结果。采用本申请技术方案,解决了传统MPC控制器无法满足不同车速的情况下的轨迹跟踪精度问题,提升了轨迹跟踪效果,使得轨迹跟踪过程中的稳定性和舒适性能够被同时兼顾。
Vehicle trajectory tracking prediction system and method
一种车辆轨迹跟踪的预测系统以及方法
2023-12-05
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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