Traversal control system and method of driverless automobile based on hybrid theory

Abstract

The invention discloses a traversal control system and method of a driverless automobile based on a hybrid theory. The system comprises a sensing module, a path planning module, a hybrid controller module, a steering executing module and a display module. The sensing module is used for acquiring the vehicle travelling environment and the vehicle operating state; the path planning module is used for planning a path based on the absolute position of a vehicle in a map and the position of the vehicle relative to peripheral obstacles and a lane line; the hybrid controller module comprises a local controller unit and a switching monitoring controller unit; the local controller unit designs a controller meeting a target for working conditions of lane-keeping, lane conversion and emergent collision avoidance; the switching monitoring controller unit driven by different discrete events drives effective mode switching, so that the switching stability is guaranteed; the steering executing module drives a steering motor according to a signal of the hybrid controller so as to realize automatic steering of the driverless automobile; and the display module is used for displaying sensing information, path planning information and control mode information.

Description

technical field [0001] The invention relates to the field of lateral control of unmanned vehicles, in particular to a system and method for lateral control of unmanned vehicles based on hybrid theory. Background technique [0002] The development of smart cars is an important component of the ten-year action plan of "Made in China 2025", an important manifestation of the will of the country, and an important opportunity for my country to implement the strategy of building a strong automobile country. Carrying out research on vertical and lateral control technology of smart cars is of great significance for improving the research and development level of smart cars in my country, shortening the gap with developed countries, and following or even occupying the commanding heights of international smart car technology. [0003] An unmanned vehicle is a high-tech carrier that integrates functions such as environmental perception, planning decision-making, and motion control. It c...

AI Technical Summary

Problems solved by technology

Therefore, for the lateral control system of unmanned vehicles, a complex dynamic system that includes both discrete event dynamics and continuous variable dynamics, it is impossible to systematically solve the problem simply by using the research method of discrete event dynamic system or continuous variable dynamic system. Complex autonomous vehicle lateral control problem

Images