Trajectory tracking control system and method of wire-controlled chassis based on uwb positioning

Abstract

The invention discloses a wire-controlled chassis trajectory tracking control system and method based on UWB positioning. Real-time vehicle positioning data is obtained based on UWB positioning technology, and a high-order perturbation filtering method is used to subtract the positioning data from a reference trajectory to obtain the current time. The control variables include lateral position deviation and heading angle deviation; based on the inversion method, two subsystems are decomposed: lateral position deviation control subsystem and heading angle deviation control subsystem. These two subsystems constitute a closed-loop control system. Calculate the wheel angle and driving torque, drive the vehicle to move forward, and complete the tracking of the reference trajectory. The present invention performs good data fusion between UWB and vehicle trajectory tracking control, and utilizes the high-order perturbation filtering method, so that the trajectory tracking control of the present invention has good system robustness and safety.

Description

technical field [0001] The invention belongs to the field of trajectory tracking, and in particular relates to a wire-controlled chassis trajectory tracking control system and method based on UWB positioning. Background technique [0002] About UWB near-field positioning technology: As the perception link in the perception-decision-execution system of unmanned vehicles, many high-tech technologies have been developed, such as SLAM, high-precision maps, GPS-RTK, etc. However, SLAM technology is not yet mature, there are too few high-precision map partners, and the cost of GPS is high. [0003] Ultra Wide-Band (UWB) is a new type of wireless communication technology. According to the specifications of the US Federal Communications Commission, the working frequency band of UWB is 3.1 to 10.6 GHz, and the ratio of the system -10dB bandwidth to the system center frequency is greater than 20%. Or the system bandwidth is at least 500MHz. The generation of UWB signals can be reali...

AI Technical Summary

Problems solved by technology

[0009] 1. For vehicle positioning in trajectory tracking technology, it is difficult to achieve a balance between cost and accuracy in existing positioning methods; some positioning methods (such as RTK-GPS) are costly, while purely using GPS, the positioning accuracy is insufficient, Difficult to apply in fixed scenarios;

[0010] 2. For the trajectory tracking algorithm, it is difficult for the existing methods to achieve a balance between the amount of calculation and the tracking accuracy; some trajectory tracking algorithms (such as MPC) rely on strong computing and processing capabilities, while using traditional trajectory tracking methods (such as Single-point preview), tracking accuracy is difficult to guarantee;

[0011] 3. In the trajectory tracking control algorithm, there is no good integration with the vehicle perception system, and most of them are developed using the framework of perception-planning-control, which makes the flexibility of the intelligent vehicle system insufficient.

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