The invention discloses a pure tracking calculation method and system based on adjacent zero course error preview point compensation, and relates to the technical field of trajectory tracking algorithms of automatic parking systems, and the method comprises the steps: calculating a preview distance, amplifying a current transverse error and a course error according to a first proportion value, and taking the amplified transverse error and course error as a transverse error; calculating a zero course error preview point, and searching a position point in the vertical direction of the preview point of the original pure tracking algorithm, so that the orientation of a vehicle body is the same as the expected direction of a planned track point when the vehicle moves to the point according to Ackerman steering; performing weighted averaging on the zero lateral error preview point and the zero course error preview point, and performing weighted averaging on the zero lateral deviation point and the zero course error point according to a certain proportion in a tolerance zone range to obtain a fused preview point; and calculating a front wheel steering angle. According to the method, an adjustment space is reserved for the subsequent error suppression process, the probability of trajectory oscillation is reduced, the stability of a tracking algorithm is improved, the probability of occurrence of the trajectory oscillation phenomenon caused by the course error is reduced, and the stability of the tracking algorithm is improved.
本发明公开了基于邻近零航向误差预瞄点补偿的纯跟踪计算方法及系统,涉及自动泊车系统的轨迹跟踪算法技术领域,包括计算预瞄距离,将当前的横向误差和航向误差以第一比例值进行放大后作为横向误差;计算零航向误差预瞄点,在原始纯跟踪算法预瞄点的垂直方向上寻找一个位置点,使得车辆按阿克曼转向移动到该点时车身朝向与规划轨迹点的期望方向相同;零横向误差预瞄点与零航向误差预瞄点的加权平均,在公差带范围内按一定比例加权平均零横偏点和零航差点得到融合预瞄点;计算前轮转角。本发明为后续抑制误差的过程留下调整空间,降低了轨迹震荡的概率,提高了跟踪算法的稳定性,减少航向误差及其导致的轨迹震荡现象出现概率,提高了跟踪算法稳定性。
Pure tracking calculation method and system based on adjacent zero course error preview point compensation
基于邻近零航向误差预瞄点补偿的纯跟踪计算方法及系统
2025-03-18
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 |
European Patent Office | 2023
|Preview point determining method based on Pure Pursuit algorithm
European Patent Office | 2015
|Pure tracking control preview distance optimization method based on double-delay vehicle model
European Patent Office | 2023
|Course error compensation method, system and device and storage medium
European Patent Office | 2023
|