The invention discloses a driving robot steering control method based on feedforward predictive compensation, and belongs to the field of driving robots. Firstly, response signals of a steering wheel controlled by the driving robot are collected, and driving robot steering mechanism transmission time delay is identified off line; then, the real-time state of the vehicle is collected, the pose of the vehicle in the Frenet coordinate system is calculated, and the curvature of the current position of the vehicle is determined; inputting the obtained historical control instruction into a vehicle kinematic model to predict the future pose of the vehicle, and determining a feedforward prediction curvature; and finally, according to the actual state of the vehicle, calculating the insufficient steering compensation amount, and in combination with the feedforward prediction curvature and the current position curvature, outputting a steering mechanism instruction of the driving robot. According to the method, the ideal curvature of the vehicle for tracking the target trajectory under the given control precision can be directly obtained by controlling the boundary constraint, so that the driving robot can control the vehicle with very high precision and stability.
本发明一种基于前馈预测补偿的驾驶机器人转向控制方法,属于驾驶机器人领域。首先采集驾驶机器人控制方向盘的响应信号,离线辨识驾驶机器人转向机构传动时延;然后采集车辆实时状态,计算车辆在Frenet坐标系下位姿,确定车辆当前位置曲率;将获取历史控制指令,输入车辆运动学模型预测车辆未来位姿,确定前馈预测曲率;最后根据车辆实际状态计算转向不足补偿量,结合合前馈预测曲率、当前位置曲率,输出驾驶机器人转向机构指令。本发明通过控制边界约束可直接求得车辆在给定控制精度下跟踪目标轨迹的理想曲率,使得驾驶机器人控制车辆具有很高的精度和稳定性。
Driving robot steering control method based on feedforward predictive compensation
基于前馈预测补偿的驾驶机器人转向控制方法
2024-09-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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