The invention discloses a trajectory tracking control method for an automatic driving vehicle. The method comprises the following steps: 1, establishing an automatic driving vehicle kinematic model with a steering lag characteristic; 2, designing a state constraint and an input constraint based on a trajectory tracking scene; 3, designing a model predictive control algorithm based on the kinematic model with steering lag; 4, designing a Bayesian optimization algorithm; based on a simple kinematics model and a steering lag model, trajectory tracking is achieved through a model predictive control algorithm, steering lag model parameters and model predictive control algorithm parameters are dynamically optimized through a Bayesian optimization algorithm according to driving data, and finally accurate control over trajectory tracking is achieved.
本发明公开了一种自动驾驶车辆轨迹跟踪控制方法,该方法内容包括以下步骤:1、建立具有转向滞后特性的自动驾驶车辆运动学模型;2、基于轨迹跟踪场景设计状态约束和输入约束;3、基于具有转向滞后的运动学模型设计模型预测控制算法;4、设计贝叶斯优化算法;本发明基于简单的运动学模型和转向滞后模型,通过模型预测控制算法实现轨迹跟踪,并且根据行驶数据,采用贝叶斯优化算法对转向滞后模型参数和模型预测控制算法参数进行动态优化,最终实现对轨迹跟踪的精确控制。
Bayesian model prediction trajectory tracking control method for autonomous vehicle
一种自动驾驶车辆贝叶斯模型预测轨迹跟踪控制方法
2024-12-17
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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