The invention discloses a vehicle trajectory tracking control method, which comprises the following steps of: establishing a plurality of predicted steering angle difference value sequences according to acquired vehicle steering parameters; according to a preset constraint condition, filtering the plurality of predicted steering angle difference sequences to obtain a plurality of optimal sequences; correspondingly obtaining a plurality of predicted steering angle sequences through conversion according to the plurality of optimal sequences; according to the plurality of predicted steering angle sequences and a plurality of preset target trajectory points, a plurality of predicted trajectories are obtained through corresponding calculation; and screening according to the predicted trajectory to obtain an optimal trajectory, and controlling the vehicle to perform trajectory tracking according to the optimal trajectory. The stability of vehicle trajectory tracking can be improved.
本发明公开一种车辆轨迹跟踪控制方法,包括以下步骤:根据采集得到的车辆转向参数,建立若干个预测转向角差值序列;根据预设约束条件,对所述若干个预测转向角差值序列进行过滤,得到若干个优选序列;根据所述若干个优选序列,通过转换对应得到若干个预测转向角序列;根据所述若干个预测转向角序列以及若干个预设目标轨迹点,对应计算得到若干条预测轨迹;根据所述预测轨迹筛选得到最佳轨迹,并根据所述最佳轨迹控制车辆进行轨迹跟踪。本发明能够提高车辆轨迹跟踪的稳定性。
Vehicle trajectory tracking control method and device
一种车辆轨迹跟踪控制方法及装置
2024-10-11
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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