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Steering wheel zero offset self-learning unmanned vehicle trajectory tracking method

A trajectory tracking and steering wheel technology, applied to motor vehicles, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problems of difficult to obtain accurate values, long test time, etc., and shorten the debugging time time, improve accuracy, achieve simple effects

Active Publication Date: 2020-05-15
合肥中科智驰科技有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the steering wheel bias is an important parameter that is not easy to determine. Most of the existing methods are to obtain this parameter by trial and error. The test time is long and it is not easy to obtain its accurate value.

Method used

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  • Steering wheel zero offset self-learning unmanned vehicle trajectory tracking method
  • Steering wheel zero offset self-learning unmanned vehicle trajectory tracking method
  • Steering wheel zero offset self-learning unmanned vehicle trajectory tracking method

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Embodiment Construction

[0034] The technical solution of the present invention will be further described below.

[0035] In this embodiment, an unmanned vehicle trajectory tracking method for zero-bias self-learning of the steering wheel is applied to a two-axle four-wheel unmanned vehicle with front wheel steering, such as figure 1 As shown, proceed as follows:

[0036] Step 1. Obtain a section of expected waypoint sequence in front of the vehicle (which can be represented by GPS latitude and longitude point columns or plane coordinates, the former is used in this example) and the position, heading, and speed of the vehicle at the current moment k; a section of expected waypoint sequence in front of the vehicle can be It can be intercepted from the entire trajectory obtained by manual collection in advance, or it can be automatically generated by the perception and planning algorithm. A sequence of waypoints; the position, heading, and speed of the vehicle at the current moment k can be obtained by...

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Abstract

The invention discloses a steering wheel zero offset self-learning unmanned vehicle trajectory tracking method. The method comprises a road line type fitting algorithm, a steering wheel zero offset estimation algorithm and a vehicle kinematics model control algorithm. The road line type fitting algorithm uses a section of expected road point sequence in front of a vehicle as input to fit road linetype parameters. Steering wheel zero offset is estimated by a steering wheel zero offset estimation algorithm according to the current and historical road line type parameters. A vehicle kinematics model control algorithm is combined with the road line type parameters, the steering wheel zero offset and the vehicle kinematics model to calculate and output a steering wheel angle for vehicle trajectory tracking control. The method aims to improve the intelligent level of unmanned vehicle trajectory tracking control and improve the tracking precision.

Description

technical field [0001] The invention relates to an unmanned vehicle trajectory tracking method for steering wheel zero-bias self-learning, and belongs to the field of unmanned vehicle motion control. Background technique [0002] The trajectory tracking method is one of the most basic components of the unmanned driving system, and its performance directly affects the driving quality of the vehicle. Existing trajectory tracking methods are basically divided into two categories, error-based methods and model-based methods. Among them, the error-based method directly uses the tracking error and heading error to correct the steering wheel control amount, does not involve the vehicle model, and has good robustness, but the tracking accuracy is low, and different parameters need to be adjusted for different vehicles, and the debugging is more complicated. . The model-based method integrates the vehicle kinematics model into the design of the control algorithm, which can better r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0278G05D1/0276
Inventor 刘跃江如海丁骥袁胜
Owner 合肥中科智驰科技有限公司
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