Multi-axle steering vehicle large curvature automatic driving and steering control method

Abstract

The invention discloses a multi-axle steering vehicle large curvature automatic driving and steering control method. The multi-axle steering vehicle large curvature automatic driving and steering control method comprises the steps that S1, a transverse deviation Ye(t) and a first course angle deviation Phi<h>(t) of a vehicle at a current position are obtained, and a transverse deviation Y(t) and asecond course angle deviation e(1, t) of the vehicle at a preset preview point position are calculated; S2, an estimator Xi<f> of a front wheel turning angle of the vehicle is calculated; S3, the estimator Xi<f> of the front wheel turning angle is treated as feedback of the second course angle deviation e(1,t), and a course input deviation e' of the vehicle is calculated; and S4, an expected front wheel turning angle u of the vehicle is calculated according to the input deviation e', and vehicle steering is controlled. The multi-axle steering vehicle large curvature automatic driving and steering control method has the advantage that the front wheel turning angle is treated as the feedback course of a decision controller, a ''wheel returning'' measure adopted by a driver when the driver drives the vehicle to pass through a sharp curving route is simulated accordingly, the control performance of the controlled vehicle is better than a conventional control method when the controlled vehicle turns a corner with a large curvature radius, in addition, with increasing of the deviation, the superiority is more obvious.

Description

technical field [0001] The invention relates to the field of multi-axis steering vehicle control, in particular to a large-curvature automatic driving steering control method for a multi-axis steering vehicle. Background technique [0002] Multi-axle steering rubber-tyred train is a new type of urban public passenger transport vehicle, which is characterized by trackless rubber tires, sharing the right of way with traditional cars, no longer running along fixed tracks, and following ground marking lines (virtual tracks). It not only has the advantages of flexible bus running, low construction and maintenance costs, but also has the advantages of large transportation capacity, and overcomes the high cost of infrastructure construction and vehicle purchase such as subways, light rails, and trams, which require special power systems and Disadvantages of track fit design. [0003] An intelligent driving assistance system based on monocular vision for rubber-tired trains, by ext...

AI Technical Summary

Problems solved by technology

However, the minimum design turning radius of rubber-tyred trains is only 15m. Therefore, completing the tracking task of complex paths (such as roads with large curvature and sharp bends) is a key indicator to measure the path-tracking performance of rubber-tired trains. Tracking on straight roads is often better controlled. Algorithm, the performance is not satisfactory when tracking complex roads such as sharp turns and large turns

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