The invention provides a vehicle trajectory tracking control method and system and computing equipment. The method comprises the following steps of: firstly, acquiring first track data which comprises required speeds, required course angles and required curvatures of a plurality of track points under a Frenet coordinate system; then, a first control quantity is determined according to the first trajectory data, and the first control quantity comprises the required driving torque and the required braking torque corresponding to the multiple trajectory points; thirdly, a second control quantity is determined according to the first track data, and the second control quantity comprises required steering wheel rotation angles corresponding to the multiple track points; and finally, the first control quantity and the second control quantity are sent to a power heading control system, and the system is used for controlling the driving torque, the braking torque and the steering wheel turning angle of the vehicle in the driving process. The method can predict the vehicle demand trajectory and decouple and optimize the vehicle control quantity to improve the calculation accuracy.

    本申请提供了一种车辆轨迹跟踪控制方法、系统以及计算设备。首先,获取第一轨迹数据,包括多个轨迹点在Frenet坐标系下的需求速度、需求航向角以及需求曲率。随后,根据第一轨迹数据确定第一控制量,包括多个轨迹点对应的需求驱动力矩和需求制动力矩。再次,根据第一轨迹数据确定第二控制量,包括多个轨迹点对应的需求方向盘转角。最后,将第一控制量和第二控制量发送至动力航向控制系统,该系统用于控制车辆在行驶过程中的驱动力矩、制动力矩以及方向盘转角。本申请可以对车辆需求轨迹预测以及将车辆控制量解耦优化提升计算精确度。


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    Title :

    Vehicle trajectory tracking control method and system and computing device


    Additional title:

    一种车辆轨迹跟踪控制方法、系统以及计算设备


    Contributors:
    LIU DI (author) / HAN BING (author) / KONG LING'AN (author) / ZHOU JINGJING (author) / XIE XINRUI (author)

    Publication date :

    2024-07-02


    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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