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A vehicle motion control method and apparatus based on track planning and associated devices

A technology of motion control and trajectory planning, which is applied in two-dimensional position/channel control, measuring devices, instruments, etc., can solve the problems of vehicle motion control stability and high efficiency that cannot meet the needs, and achieve improved comfort and robustness. sticky effect

Active Publication Date: 2018-01-19
NIO CO LTD
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Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the stability and efficiency of vehicle motion control based on trajectory planning cannot meet the requirements, the present invention proposes a vehicle motion control method, device and related equipment based on trajectory planning , can complete vehicle trajectory planning and motion control simply, stably and efficiently

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  • A vehicle motion control method and apparatus based on track planning and associated devices
  • A vehicle motion control method and apparatus based on track planning and associated devices

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Embodiment Construction

[0114] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0115] The present invention proposes a trajectory-based vehicle motion control method, which preliminarily plans the trajectory of the vehicle's journey according to the start point and end point of the journey. A small section of the reference trajectory closest to the vehicle is intercepted on the travel trajectory curve, and a more accurate local driving trajectory curve is obtained by using a polynomial fitting method, and the operation of the vehicle is controlled accordingly. Among them, the parameter vector in the polynomial is calculated according to the current driving state of the vehicle and the intercepted local trajectory curve, ...

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Abstract

The invention relates to the intelligent driving field, concretely relates to a vehicle motion control method and apparatus based on track planning and associated devices, and is aimed at solving theproblems that track calculation is high in complexity and poor in practicality during vehicle assistance driving. The vehicle motion control method includes the following steps: making primary planning for vehicle route tracks in advance on the basis of a route starting point and a route ending point, capturing a short reference track with a preset length in a route direction on a vehicle route track curve planned in advance every a certain period of time during running, solving a current driving track curve of a vehicle through a polynomial fitting method, generating vehicle kinetics model parameters, and thus controlling running of the vehicle. The method realizes driving track planning and motion control for vehicles in an easy, stable and highly efficient manner, exhibits high robustness, and substantially improves comfort of vehicles during an entire moving process.

Description

technical field [0001] The invention relates to the field of intelligent driving, in particular to a trajectory planning-based vehicle motion control method, device and related equipment. Background technique [0002] In the assisted driving of automobiles, it has always been a difficult point in assisted driving to obtain data through various sensors, and then use a computer to plan a path so that the car can drive according to the planned path. [0003] In recent years, various machine learning methods have been used in automobile assisted driving, such as vision-based machine learning is particularly prominent, this type of method is mainly used in the perception stage, and the final control is due to consideration of various factors such as safety , not implemented in such unpredictable ways. [0004] At present, most of the mass-produced automatic driving and assisted driving products are based on preview points and polynomial fitting methods. These methods are based o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 周煜远
Owner NIO CO LTD
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