Regional path tracking control method for autonomous land vehicle

Abstract

The invention discloses a regional path tracking control method for an autonomous land vehicle. A problem that collision of a vehicle with a road boundary or surround obstacle occurs because shapes and sizes of the vehicle and the road are not considered by the existing tracking control method can be solved. The method comprises the following steps: establishing a two-dimensional road model; establishing a mathematical model associated with a vehicle path tracking problem; calculating a roadable region boundary line within a certain distance in front of the vehicle; establishing a vehicle system model; carrying out a design of a regional path tracking control model and selecting a controlled quantity being an optimum front wheel steering angle at current time; according to the optimum front wheel steering angle, controlling a steering execution mechanism to make motion to enable the controlled vehicle to be driven in a roadable region, provided by a vehicle sensing system, within a certain distance in front of the vehicle. When the two-dimensional road model is established, the shapes and sizes of the vehicle and roads are taken into consideration, thereby reducing the possibility of collision of the vechile with the road boundary and thus improving safety of the autonomous land vehicle.

Description

technical field [0001] The invention belongs to a control method in the technical field of autonomous driving, and relates to a path tracking control method of an autonomous driving vehicle. Background technique [0002] The wide application prospect of autonomous driving technology makes it attract more and more people's attention. A typical autonomous driving system includes two functional modules: a perception system and a driving control system. The perception system is used to obtain information about the surrounding environment of the vehicle and the vehicle's own operating status information, and the driving control system controls the driving of the vehicle instead of the driver. For autonomous driving technology, path following control is one of the most critical control problems that the driving control system needs to solve. The path tracking control of existing self-driving vehicles mostly refers to the motion control method of robots. First, a feasible trajecto...

AI Technical Summary

Problems solved by technology

[0003] The problem to be solved by the present invention is to overcome the problem that the existing path tracking control method for self-driving vehicles does not consider the shape and size of the vehicle and the road and thus cannot ensure that the vehicle does not collide with the road boundary or its surrounding obstacles, and provides a A region-based path-following control method for autonomous vehicles

Images